Instrument for surgery

ABSTRACT

Provided is an instrument for surgery and, more specifically, to an instrument for surgery which can be manually operated in order to be used for laparoscopic surgery or various types of surgery.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation-in-part of U.S. applicationSer. No. 15/551,651 filed on Aug. 17, 2017, which is a national-stageapplication of international application No. PCT/KR2016/001582 filed onFeb. 17, 2016, and claims priority to Korean patent application No.10-2015-0024304 filed on Feb. 17, 2015, and the entire contents of theseprior-filed applications are hereby incorporated by reference.

TECHNICAL FIELD

The present invention relates to an instrument for surgery and, morespecifically, to an instrument for surgery which may be manuallyoperated for laparoscopic surgery or various other types of surgery.

BACKGROUND ART

Surgical operations refer to medical operations for curing disease bycutting, incising, or processing the skin, mucous membranes, or othertissue using medical instruments. In particular, open surgery, in whichthe skin of a surgical site is cut open to cure, shape, or remove aninside organ, causes problems such as bleeding, side effects, pain inpatients, or scars. Therefore, as alternatives, a surgical operation,which is performed by forming a hole through the skin and inserting intothe hole only a medical instrument such as a laparoscope, a surgicalinstrument, or a microscope for microsurgery, or a robotic surgicaloperation, have recently been favored.

Instruments for surgery are tools for performing an operation on asurgical site by handling an end tool provided on an end of a shaftinserted into a hole formed through the skin, and a surgeon may handlethe end tool using a robotic arm or manually using a driving unit. Suchan end tool of an instrument for surgery is configured to performmotions such as rotation, gripping, or cutting using a certainstructure.

However, since instruments for surgery of the related art haveunbendable end tools, it is difficult to access a surgical site andperform various surgical actions. In order to solve this problem, aninstrument for surgery having a bendable end tool has been developed.However, the operation of a manipulation part for bending the end toolor performing a surgical action does not intuitively match the actualbending of the end tool or the actual surgical action, and thus forsurgeons, it is difficult to intuitively handle the instrument forsurgery and takes a long time to be able to skillfully use theinstrument for surgery.

The above-described background art is technical information that theinventors obtained or learned when or while inventing the presentinvention, and may not be publicly disclosed before the filing of thepresent patent application.

DETAILED DESCRIPTION OF THE INVENTION Technical Problem

To solve the above-described problems, an object of the presentinvention is to provide an instrument for surgery configured tointuitively match motions of an end tool for bending or surgery withmanipulations of a manipulation part. More particularly, to this end,the present invention provides an end tool having a plurality of degreesof freedom, a manipulation part configured to intuitively control theoperation of the end tool, and a power transmission part configured totransmit driving force of the manipulation part to the end tool foroperating the end tool according to manipulations of the manipulationpart.

Technical Solution

An embodiment of the present invention provides an instrument forsurgery including: an end tool including a first jaw and a second jawthat are independently rotatable, the end tool being rotatable in atleast two directions; a manipulation part configured to control rotationof the end tool in the at least two directions, the manipulation partincluding a first handle, a yaw manipulation part connected to the firsthandle and configured to control yaw motion of the end tool, anactuation manipulation part provided at a side of the yaw manipulationpart and configured to control actuation motion of the end tool, and apitch manipulation part provided at a side of the yaw manipulation partand configured to control pitch motion of the end tool, wherein at leastone of the yaw manipulation part, the actuation manipulation part, andthe pitch manipulation part is directly connected to the first handle; apower transmission part connected to the manipulation part, the powertransmission part including a first jaw wire, the first jaw wiretransmitting rotation of the manipulation part to the first jaw, and asecond jaw wire, the second jaw wire transmitting rotation of themanipulation part to the second jaw; and a connecting part extending ina first direction (X axis), the connecting part being coupled to the endtool at an end portion thereof and coupled to the manipulation part atthe other end portion thereof so as to connect the manipulation part tothe end tool, the connecting part including a bent part connecting theend tool and the manipulation part to each other and being bent at leastonce, wherein at least a portion of the manipulation part extends towardthe end tool.

Other aspects, features, and advantages will become apparent and morereadily appreciated from the accompanying drawings, claims, and detaileddescription.

Advantageous Effects of the Invention

According to the present invention, a direction in which a surgeonhandles the manipulation part is intuitively identical to a direction inwhich the end tool is operated. Therefore, surgeons may convenientlyperform surgery, and the accuracy, reliability, and speed of surgery maybe improved.

DESCRIPTION OF THE DRAWINGS

FIG. 1A is a schematic view illustrating a pitch motion of an instrumentfor surgery of the related art, and FIG. 1B is a schematic viewillustrating a yaw motion of the instrument for surgery of the relatedart.

FIG. 1C is a schematic view illustrating a pitch motion of anotherinstrument for surgery of the related art, and FIG. 1D is a schematicview illustrating a yaw motion of the other instrument for surgery ofthe related art.

FIG. 1E is a schematic view illustrating a pitch motion of an instrumentfor surgery according to the present invention, and FIG. 1F is aschematic view illustrating a yaw motion of the instrument for surgeryaccording to the present invention.

FIG. 2 is a perspective view illustrating an instrument for surgeryaccording to a first embodiment of the present invention.

FIG. 3 is a side view illustrating the instrument for surgery shown inFIG. 2.

FIGS. 4 and 5 are perspective views illustrating an end tool of theinstrument for surgery shown in FIG. 2.

FIG. 6A is a plan view illustrating the end tool of the instrument forsurgery shown in FIG. 2.

FIG. 6B is a plan view illustrating an end tool of an instrument forsurgery of the related art.

FIG. 6C is a view illustrating a modification of the end tool shown inFIG. 6A.

FIG. 6D is a view illustrating a modification of the end tool shown inFIG. 6A.

FIGS. 7A and 7B are perspective views illustrating a manipulation partof the instrument for surgery shown in FIG. 2.

FIG. 8 is a schematic view illustrating only a configuration of pulleysand wires of the instrument for surgery shown in FIG. 7, according tothe embodiment of the present invention.

FIG. 9 is a view illustrating configurations of pulleys and wiresrelating to actuation motion and yaw motion of the instrument shown inFIG. 7 separately with respect to a first jaw and a second jaw,according to the embodiment of the present invention.

FIG. 10 is a perspective view illustrating a yaw motion of theinstrument for surgery shown in FIG. 7.

FIG. 11 is a view illustrating configurations of pulleys and wiresrelating to pitch motion of the instrument shown in FIG. 7 separatelywith respect to the first jaw and the second jaw, according to theembodiment of the present invention.

FIG. 12 is a perspective view illustrating a pitch motion of theinstrument for surgery shown in FIG. 7.

FIG. 13 is a view illustrating an example of a direct-type yaw joint.

FIG. 14 is a view illustrating an example of an indirect-type yaw joint.

FIG. 15 is a view illustrating an example of an indirect-type pitchjoint.

FIG. 16 is a view illustrating an example of a direct-type pitch joint.

FIG. 17 is a view illustrating configurations of pulleys and wires ofthe instrument for surgery shown in FIG. 9, relating to the operation ofthe first jaw, and modifications thereof, according to the embodiment ofthe present invention.

FIG. 18 is a view illustrating another modification of the embodimentshown in FIG. 17.

FIG. 19 is a view illustrating another modification of the embodimentshown in FIG. 17.

FIG. 20 is a view illustrating another modification of the embodimentshown in FIG. 17.

FIG. 21 is a view illustrating another modification of the embodimentshown in FIG. 17.

FIG. 22 is a view illustrating another modification of the embodimentshown in FIG. 17.

FIG. 23 is a view illustrating another modification of the embodimentshown in FIG. 17.

FIG. 24 is a view illustrating another modification of the embodimentshown in FIG. 17.

FIG. 25 is a view illustrating another modification of the embodimentshown in FIG. 17.

FIG. 26 is a view illustrating another modification of the embodimentshown in FIG. 17.

FIG. 27 is a view illustrating another modification of the embodimentshown in FIG. 17.

FIG. 28 is a view illustrating another modification of the embodimentshown in FIG. 8.

FIG. 29 is a view illustrating another modification of the embodimentshown in FIG. 16.

FIGS. 30 and 31 are views illustrating a modification relating toinsulation.

FIG. 32 is a perspective view illustrating an instrument for surgeryaccording to a second embodiment of the present invention.

FIG. 33 is an inside perspective view illustrating the instrument forsurgery shown in FIG. 32.

FIG. 34 is a side view illustrating the instrument for surgery shown inFIG. 33.

FIGS. 35 and 36 are perspective views illustrating a manipulation partof the instrument for surgery shown in FIG. 33.

FIGS. 37 and 38 are perspective views illustrating a yaw motion of theinstrument for surgery shown in FIG. 33.

FIGS. 39 and 40 are perspective views illustrating an actuation motionof the instrument for surgery shown in FIG. 33.

FIG. 41 is a perspective view illustrating an instrument for surgeryaccording to a third embodiment of the present invention.

FIG. 42 is a side view illustrating the instrument for surgery shown inFIG. 41.

FIG. 43 is a perspective view illustrating a manipulation part of theinstrument for surgery shown in FIG. 42.

FIGS. 44 and 45 are perspective views illustrating a yaw motion of theinstrument for surgery shown in FIG. 41.

FIGS. 46 and 47 are perspective views illustrating an actuation motionof the instrument for surgery shown in FIG. 41.

FIG. 48 is a perspective view illustrating a yaw motion of an instrumentfor surgery according to a fourth embodiment of the present invention.

FIG. 49 is a perspective view illustrating an actuation motion of theinstrument for surgery according to the fourth embodiment of the presentinvention.

FIG. 50 is a perspective view illustrating an instrument for surgeryaccording to a fifth embodiment of the present invention.

FIG. 51 is a side view illustrating the instrument for surgery shown inFIG. 50.

FIGS. 52 and 53 are perspective views illustrating a manipulation partof the instrument for surgery shown in FIG. 51.

FIGS. 54 and 55 are perspective views illustrating a yaw motion of theinstrument for surgery shown in FIG. 50.

FIG. 56 is a perspective view illustrating an instrument for surgeryaccording to a sixth embodiment of the present invention.

FIG. 57 is a perspective view illustrating a manipulation part of theinstrument for surgery shown in FIG. 56.

FIG. 58 is an inside perspective view illustrating a wiring structure ofthe instrument for surgery shown in FIG. 56.

FIG. 59 is a perspective view illustrating a yaw motion of theinstrument for surgery shown in FIG. 56.

FIG. 60 is a perspective view illustrating a pitch motion of theinstrument for surgery shown in FIG. 56.

FIG. 61 is a perspective view illustrating an instrument for surgeryaccording to a seventh embodiment of the present invention.

FIG. 62 is a side view illustrating the instrument for surgery shown inFIG. 61.

FIGS. 63 and 64 are perspective views illustrating a manipulation partof the instrument for surgery shown in FIG. 61.

FIG. 65 is an inside perspective view illustrating a wiring structure ofthe instrument for surgery shown in FIG. 61.

FIG. 66 is an enlarged view illustrating a portion A of FIG. 65.

FIG. 67 is a cross-sectional view taken along line C-C′ of FIG. 66.

FIG. 68 is a perspective view illustrating a yaw motion of theinstrument for surgery shown in FIG. 61.

FIG. 69 is a perspective view illustrating a pitch motion of theinstrument for surgery shown in FIG. 61.

FIG. 70 is a perspective view illustrating an instrument for surgeryaccording to an eighth embodiment of the present invention.

FIG. 71 is a perspective view illustrating a manipulation part of theinstrument for surgery shown in FIG. 70.

FIG. 72 is an inside perspective view illustrating a wiring structure ofthe instrument for surgery shown in FIG. 70.

FIG. 73 is a perspective view illustrating a yaw motion of theinstrument for surgery shown in FIG. 70.

FIGS. 74, 75, and 76 are perspective views illustrating a pitch motionof the instrument for surgery shown in FIG. 70.

FIG. 77 is an inside perspective view illustrating an instrument forsurgery according to a ninth embodiment of the present invention.

FIG. 78 is a perspective view illustrating a yaw motion of theinstrument for surgery shown in FIG. 77.

FIG. 79 is a perspective view illustrating a pitch motion of theinstrument for surgery shown in FIG. 77.

FIG. 80 is an inside perspective view illustrating an instrument forsurgery according to a tenth embodiment of the present invention.

FIG. 81 is an inside perspective view illustrating the instrument forsurgery of FIG. 80 with actuation gears.

FIG. 82 is a perspective view illustrating a yaw motion of theinstrument for surgery shown in FIG. 81.

FIG. 83 is a perspective view illustrating a pitch motion of theinstrument for surgery shown in FIG. 81.

FIG. 84 is an inside perspective view illustrating an instrument forsurgery according to an eleventh embodiment of the present invention.

FIG. 85 is an inside perspective view illustrating the instrument forsurgery of FIG. 84 with actuation gears.

FIG. 86 is a perspective view illustrating a yaw motion of theinstrument for surgery shown in FIG. 84.

FIG. 87 is a perspective view illustrating a pitch motion of theinstrument for surgery shown in FIG. 84.

FIG. 88 is a perspective view illustrating an instrument for surgeryaccording to a twelfth embodiment of the present invention.

FIG. 89 is an inside perspective view illustrating structures such as awiring structure of the instrument for surgery shown in FIG. 88.

FIG. 90 is a view simply illustrating only a configuration of pulleysand wires making up joints of an instrument for surgery according toanother embodiment of the present invention.

FIG. 91 is a view illustrating configurations of pulleys and wiresrelating to a pitch motion of the instrument shown in FIG. 90 separatelywith respect to a first jaw and a second jaw.

FIG. 92 is a perspective view illustrating a pitch motion of theinstrument of FIG. 90.

FIG. 93 is a view illustrating configurations of pulleys and wiresrelating to an actuation motion and a yaw motion of the instrument shownin FIG. 90 separately with respect to the first jaw and the second jaw,according to the embodiment of the present invention.

FIG. 94 is a perspective view illustrating the yaw motion of theinstrument of FIG. 90.

BEST MODE

The present invention may include various embodiments and modifications,and particular embodiments thereof are illustrated in the drawings andwill be described herein in detail. However, it will be understood thatthe present invention is not limited to the embodiments and includes allmodifications, equivalents, and replacements within the idea andtechnical scope of the present invention. Moreover, detaileddescriptions related to well-known functions or configurations will beomitted in order not to unnecessarily obscure subject matters of thepresent invention.

Although terms such as “first” and “second” may be used herein todescribe various elements or components, these elements or componentsshould not be limited by these terms. These terms are only used todistinguish one element or component from other elements or components.

The terminology used herein is for explaining specific embodiments onlyand is not intended to limit the present invention. As used herein, thesingular forms “a,” “an”, and “the” are intended to include the pluralforms as well, unless the context clearly indicates otherwise. It willbe understood that terms such as “comprise,” “include,” and “have,” whenused herein, specify the presence of state features, integers, steps,operations, elements, components, or combinations thereof, but do notpreclude the presence or addition of one or more other features,integers, steps, operations, elements, components, or combinationsthereof.

Hereinafter, embodiments of the present invention will be described indetail with reference to the accompanying drawings. In the followingdescription, like reference numerals denote like elements, and redundantdescriptions thereof will be omitted.

In addition, it will be understood that various embodiments of thepresent invention may be interpreted or implemented in combination, andtechnical features of each embodiment may be interpreted or implementedin combination with technical features of other embodiments.

First Embodiment of Instrument for Surgery

An instrument for surgery of the present invention is characterized inthat if a manipulation part is rotated in one direction for at least anyone of pitch, yaw, and actuation motions, an end tool is rotated inintuitively the same direction as the direction in which themanipulation part is manipulated.

FIG. 1A is a schematic view illustrating pitch motion of an instrumentfor surgery of the related art, and FIG. 1B is a schematic viewillustrating yaw motion of the instrument for surgery of the relatedart.

Referring to FIG. 1A, a pitch motion of the instrument for surgery ofthe related art is performed as follows. In a state in which an end tool120 a is in front of an end tool rotation center 121 a and amanipulation part 110 a is in back of a manipulation part rotationcenter 111 a, if the manipulation part 110 a is rotated clockwise, theend tool 120 a is also rotated clockwise, and if the manipulation part110 a is rotated counterclockwise, the end tool 120 a is also rotatedcounterclockwise. Referring to FIG. 1B, a yaw motion of the instrumentfor surgery of the related art is performed as follows. In a state inwhich the end tool 120 a is in front of the end tool rotation center 121a and the manipulation part 110 a is in back of the manipulation partrotation center 111 a, if the manipulation part 110 a is rotatedclockwise, the end tool 120 a is also rotated clockwise, and if themanipulation part 110 a is rotated counterclockwise, the end tool 120 ais also rotated counterclockwise. In this case, from the viewpoint of ahorizontal direction of a user, when the user moves the manipulationpart 110 a to the left, the end tool 120 a moves to the right, and whenthe user moves the manipulation part 110 a to the right, the end tool120 a moves to the left. Consequently, since the manipulation directionof the user and the operation direction of the end tool are oppositeeach other, the user may make mistakes and have difficulty inmanipulation.

FIG. 1C is a schematic view illustrating a pitch motion of anotherinstrument for surgery of the related art, and FIG. 1D is a schematicview illustrating a yaw motion of the instrument for surgery of therelated art.

Referring to FIG. 1C, some instruments for surgery of the related arthave a mirror-symmetric structure and perform a pitch motion as follows:in a state in which an end tool 120 b is formed in front of an end toolrotation center 121 b and an manipulation part 110 b is formed in backof a manipulation part rotation center 111 b, when the manipulation part110 b is rotated clockwise, the end tool 120 b is rotatedcounterclockwise, and when the manipulation part 110 b is rotatedcounterclockwise, the end tool 120 b is rotated clockwise. In this case,from the viewpoint of the rotation directions of the manipulation part110 b and the end tool 120 b, the direction in which a user rotates themanipulation part 110 b is opposite the direction in which the end tool120 b is accordingly rotated. Consequently, the user may confusemanipulation directions, and the operation of a joint may not beintuitive, thereby causing mistakes. In addition, referring to FIG. 1D,a yaw motion is performed as follows. In a state in which the end tool120 b is in front of the end tool rotation center 121 b and themanipulation part 110 b is in back of the manipulation part rotationcenter 111 b, if the manipulation part 110 b is rotated clockwise, theend tool 120 b is rotated counterclockwise, and if the manipulation part110 b is rotated counterclockwise, the end tool 120 b is rotatedclockwise. In this case, from the viewpoint of the rotation directionsof the manipulation part 110 b and the end tool 120 b, the direction inwhich a user rotates the manipulation part 110 b is opposite thedirection in which the end tool 120 b is accordingly rotated.Consequently, the user may confuse manipulation directions, and theoperation of the joint may not be intuitive, thereby causing mistakes.As described above, when a user performs a pitch or yaw motion of aninstrument for surgery of the related art, the manipulation direction ofthe user is not the same as the operation direction of an end tool fromthe viewpoint of the rotation directions or the horizontal direction.This is because an end tool and a manipulation part of an instrument forsurgery of the related art have different joint structures. That is, theend tool is formed in front of the rotation center of the end tool,whereas the manipulation part is formed in back of the rotation centerof the manipulation part. In order to address this problem, instrumentsfor surgery according to embodiments of the present inventionillustrated in FIGS. 1E and 1F are characterized in that an end tool 120c is provided in front of an end tool rotation center 121 c and amanipulation part 110 c is also provided in front of a manipulation partrotation center 111 c, such that the operations of the manipulation part110 c and the end tool 120 c are intuitively identical to each other. Inother words, unlike the configuration example of the related art inwhich the manipulation part is adjacent to a user (i.e., distant fromthe end tool) based on a joint thereof as illustrated in FIGS. 1A, 1B,1C, and 1D, the instruments for surgery according to the embodiments ofthe present invention illustrated in FIGS. 1E and 1F are configured suchthat at least a portion of the manipulation part may be more adjacent tothe end tool based on a joint thereof (i.e., than the joint thereof isto the end tool) at at least a moment of manipulation.

In other words, in the case of an instrument for surgery of the relatedart as illustrated in FIGS. 1A, 1B, 1C, and 1D, since an end tool islocated in front of a rotation center thereof but a manipulation part islocated in back of a rotation center thereof, the end tool fixed at arear side thereof and configured to be moved at a front side thereof ismoved by the manipulation part fixed at a front side thereof andconfigured to be moved at a rear side thereof, and thus the structuresof the manipulation part and the end tool are not intuitively identicalto each other. Therefore, the manipulation of the manipulation part andthe operation of the end tool are not identical to each other from theviewpoint of the horizontal direction or rotation directions, and thus auser may be confused and may not intuitively quickly manipulate themanipulation part, thereby making mistakes. However, in the case of theinstruments for surgery according to the embodiments of the presentinvention, since each of the end tool and the manipulation part moveswith respect to a rear rotation center thereof, it may be consideredthat the operations of the end tool and the manipulation part arestructurally intuitively identical to each other. In other words, likethe end tool having a portion movable based on the rear rotation centerthereof, the manipulation part has a portion movable based on the rearrotation center thereof. Thus, it may be considered that the operationsof the end tool and the manipulation part are structurally intuitivelyidentical to each other. Consequently, a user may intuitively rapidlycontrol the direction of the end tool, and the possibility that the usermakes a mistake may be significantly reduced. A specific mechanismenabling this function will be described below.

FIG. 2 is a perspective view illustrating an instrument for surgeryaccording to a first embodiment of the present invention, and FIG. 3 isa side view illustrating the instrument for surgery shown in FIG. 2.

Referring to FIGS. 2, and 3, the instrument 100 for surgery according tothe first embodiment of the present invention includes a manipulationpart 110, an end tool 120, a power transmission part 130, and aconnecting part 140. Here, the connecting part 140 may have a hollowshaft shape accommodating at least one wire (described later). Themanipulation part 110 may be coupled to one end portion of theconnecting part 140, and the end tool 120 may be coupled to the otherend portion of the connecting part 140 such that the manipulation part110 and the end tool 120 may be connected through the connecting part140. Here, the connecting part 140 of the instrument 100 for surgeryaccording to the first embodiment of the present invention ischaracterized by having a bent part 141 on a side of the manipulationpart 110. As described above, an end portion of the connecting part 140located on a side of the manipulation part 110 is bent such that a pitchmanipulation part 111, a yaw manipulation part 112, and an actuationmanipulation part 113 may be located on or adjacent to an extension lineof the end tool 120. From another perspective, it may be stated that atleast portions of the pitch manipulation part 111 and the yawmanipulation part 112 is accommodated in a concave region formed by thebent part 141. Owning to the shape of the bent part 141, the shapes andoperations of the manipulation part 110 and the end tool 120 may be moreintuitively identical to each other.

In addition, a plane formed by the bent part 141 may be substantiallythe same as a pitch plane, that is, an XZ plane shown in FIG. 2. In thismanner, since the bent part 141 is provided on the same plane as the XZplane, interference between manipulation parts may be reduced.Alternatively, any other configuration of the end tool and themanipulation part may be possible in addition to the XZ planeconfiguration.

The manipulation part 110 is provided on one end portion of theconnecting part 140 and has an interface such as a tweezers shape, astick shape, or a lever shape that a surgeon may directly manipulate,such that if an surgeon manipulates the interface, the end tool 120connected to the interface and inserted into the body of a patient maybe operated for surgery. Although FIG. 2 illustrates that themanipulation part 110 has a handle shape configured to be rotated byinserting a finger thereinto, the idea of the present invention is notlimited thereto. That is, the manipulation part 110 may have any shapeas long as the end tool 120 is connected to the manipulation part 110and manipulated using the manipulation part 110.

The end tool 120 is provided on the other end portion of the connectingpart 140 and is configured to be moved for surgery in a state in whichthat end tool 120 is inserted into a surgical site. As an example of theend tool 120, a pair of jaws 121 and 122 for gripping may be used asillustrated in FIG. 2. However, the idea of the present invention is notlimited thereto. That is, various devices for surgery may be used as theend tool 120. For example, a device such as a one-armed cauter may beused as the end tool 120. The end tool 120 is connected to themanipulation part 110 through the power transmission part 130 to receivea driving force of the manipulation part 110 through the powertransmission part 130, thereby performing a necessary surgical motionsuch as gripping, cutting, or suturing.

Herein, the end tool 120 of the instrument 100 for surgery of the firstembodiment of the present invention is configured to rotate in at leasttwo directions. For example, the end tool 120 may be capable of pitchmotion around a Y axis of FIG. 2 and yaw motion and actuation motionaround a Z axis of FIG. 2.

In the present invention, pitch, yaw, and actuation motions are definedas follows.

First, the pitch motion refers to upward and downward rotations of theend tool 120 with respect to an extension direction (the direction of anX axis in FIG. 2) of the connecting part 140, that is, rotation of theend tool 120 around the Y axis in FIG. 2. In other words, the pitchmotion refers to upward and downward rotations of the end tool 120,which extends from the connecting part 140 in the extension direction(the X-axis direction in FIG. 2) of the connecting part 140, around theY axis with respect to the connecting part 140. Next, the yaw motionrefers to leftward and rightward rotations of the end tool 120 withrespect to the extension direction (the X-axis direction in FIG. 2) ofthe connecting part 140, that is, rotation of the end tool 120 aroundthe Z axis in FIG. 2. In other words, the yaw motion refers to leftwardand rightward rotations of the end tool 120, which extends from theconnecting part 140 in the extension direction (the X-axis direction inFIG. 2) of the connecting part 140, around the Z axis with respect tothe connecting part 140. That is, the yaw motion refers to a motion inwhich the two jaws 121 and 122 of the end tool 120 are rotated aroundthe Z axis in the same direction. In addition, the actuation motionrefers to a motion in which the end tool 120 rotates around the samerotation axis as the yaw motion but the two jaws 121 and 122 rotate inopposite directions to move close to each other or away from each other.That is, the actuation motion refers to a motion in which the two jaws121 and 122 rotate around the Z axis in opposite directions.

The power transmission part 130 may connect the manipulation part 110and the end tool 120 to each other and transmit a driving force of themanipulation part 110 to the end tool 120. The power transmission part130 may include a plurality of wires, pulleys, links, nodes, and gears.According to the embodiment of the present invention, the powertransmission part 130 of the instrument 100 for surgery may include apitch wire 130P, a first jaw wire 130J1, and a second jaw wire 130J2.

Hereinafter, parts of the instrument 100 for surgery shown in FIG. 2such as the manipulation part 110, the end tool 120, and the powertransmission part 130 will be described in more detail.

FIGS. 4 and 5 are perspective views illustrating the end tool of theinstrument for surgery shown in FIG. 2, and FIG. 6A is a plan viewillustrating the end tool of the instrument for surgery shown in FIG. 2.

Referring to FIGS. 4, 5 and 6A, the end the end tool 120 of the firstembodiment of the present invention includes a pair of jaws 121 and 122,that is, a first jaw 121 and a second jaw 122 for gripping motion. Inaddition, the end tool 120 includes: a J11 pulley 123J11, a J12 pulley123J12, a J13 pulley 123J13, a J14 pulley 123J14, and a J15 pulley123J15 that are related to the rotation motion of the first jaw 121; anda J21 pulley 123J21, a J22 pulley 123J22, a J23 pulley 123J23, a J24pulley 123J24, and a J25 pulley 123J25 that are related to the rotationmotion of the second jaw 122. In this case, the first jaw 121, the J11pulley 123J11, the J12 pulley 123J12, the J14 pulley 123J14, the secondjaw 122, the J21 pulley 123J21, the J22 pulley 123J22, and the J24pulley 123J24 may be configured to rotate around an end tool pitchrotation shaft 123PA.

In addition, A connecting part hub 142 is provided on an end portion ofthe connecting part 140 coupled to the end tool 120. The J12 pulley123J12, the J13 pulley 123J13, the J14 pulley 123J14, the J15 pulley123J15, the J22 pulley 123J22, the J23 pulley 123J23, the J24 pulley123J24, and the J25 pulley 123J25 are connected to the connecting parthub 142.

Although it is illustrated that pulleys facing each other are parallelto each other, the idea of the present invention is not limited thereto.That is, the pulleys may have various positions and sizes suitable forthe configuration of the end tool.

The J11 pulley 123J11 and the J21 pulley 123J21 face each other androtate independently around a jaw rotation shaft 123JA. Here, the firstjaw 121 may be fixedly coupled to the J11 pulley 123J11 so as to berotated together with the J11 pulley 123J11, and the second jaw 122 maybe fixedly coupled to the J21 pulley 123J21 so as to be rotated togetherwith the J21 pulley 123J21. Yaw and actuation motions of the end tool120 are performed as according to rotations of the J11 pulley 123J11 andthe J21 pulley 123J21. That is, yaw motion is performed when the J11pulley 123J11 and the J21 pulley 123J21 are rotated in the samedirection, and actuation motion is performed when the J11 pulley 123J11and the J21 pulley 123J21 are rotated in opposite directions.

In addition, a J16 pulley 123J16 and a J26 pulley 123J26 may beadditionally provided as auxiliary pulleys on a side of the J11 pulley123J11 and the J21 pulley 123J21, and the auxiliary pulleys may berotatable on an auxiliary pulley shaft 123S. Although it is illustratedthat the J16 pulley 123J16 and the J26 pulley 123J26 are configured torotate on the single auxiliary pulley shaft 123S, the auxiliary pulleysmay be configured to rotate on separate shafts, respectively. In otherwords, the J16 pulley 123J16 being an auxiliary pulley may be placedbetween the J11 pulley 123J11 and the J12 pulley 123J12/the J14 pulley123J14. In addition, the J26 pulley 123J26 being an auxiliary pulley maybe placed between the J21 pulley 123J21 and the J22 pulley 123J22/theJ24 pulley 123J24. The auxiliary pulleys will be described later in moredetail.

Elements related to rotation of the J11 pulley 123J11 will be describedbelow.

The J12 pulley 123J12 and the J14 pulley 123J14 are placed to face eachother at a side of the J11 pulley 123J11. In this case, the J12 pulley123J12 and the J14 pulley 123J14 are independently rotatable about theend tool pitch rotation shaft 123PA. In addition, the J13 pulley 123J13and the J15 pulley 123J15 are placed to face each other respectively atsides of the J12 pulley 123J12 and the J14 pulley 123J14. Here, the J13pulley 123J13 and the J15 pulley 123J15 are independently rotatablearound the Y-axis direction. Although it is illustrated that all of theJ12 pulley 123J12, the J13 pulley 123J13, the J14 pulley 123J14, and theJ15 pulley 123J15 are rotatable around the Y-axis direction, the idea ofthe present invention is not limited thereto, and the rotating axes ofthe respective pulleys may be oriented in various directions accordingto configurations thereof.

The first jaw wire 130J1 may be sequentially wound to make contact withat least portions of the J13 pulley 123J13, the J12 pulley 123J12, theJ11 pulley 123J11, the J16 pulley 123J16, the J14 pulley 123J14, and theJ15 pulley 123J15, and the first jaw wire 130J1 may move along thepulleys while rotating the pulleys.

Thus, when the first jaw wire 130J1 is pulled in the direction of anarrow J1R in FIG. 6A, the first jaw wire 130J1 rotates the J15 pulley123J15, the J14 pulley 123J14, the J16 pulley 123J16, the J11 pulley123J11, the J12 pulley 123J12, and the J13 pulley 123J13. At this time,as the J11 pulley 123J11 is rotated in the direction of an arrow R inFIG. 6A, the J11 pulley 123J11 rotates the first jaw 121.

On the other hand, when the first jaw wire 130J1 is pulled in thedirection of an arrow J1L in FIG. 6A, the first jaw wire 130J1 rotatesthe J13 pulley 123J13, the J12 pulley 123J12, the J11 pulley 123J11, theJ16 pulley 123J16, the J14 pulley 123J14, and the J15 pulley 123J15. Atthis time, as the J11 pulley 123J11 is rotated in the direction of anarrow L in FIG. 6A, the J11 pulley 123J11 rotates the first jaw 121.

Hereinafter, the auxiliary pulleys 123J16 and 123J26 will be describedin more detail.

The auxiliary pulleys 123J16 and 123J26 may be in contact with the firstjaw wire 130J1 and the second jaw wire 130J2, thereby changing paths ofthe first jaw wire 130J1 and the second jaw wire 130J2 to some degreeand extending the rotation radii of the first jaw 121 and the second jaw122. That is, if no auxiliary pulley is placed as illustrated in FIG.6B, the first jaw 121 and the second jaw 122 may be rotated up to aright angle to each other. However, according to the embodiment of thepresent invention, the auxiliary pulleys 123J16 and 123J26 areadditionally provided such that the maximum rotation angle may beincreased by 0 as illustrated in FIG. 6A. This allows the two jaws ofthe end tool 120 to move away from each other for actuation motion in astate in which the two jaws are rotated together by 90° in yaw motion inthe direction L. That is, this is because it is possible to furtherrotate the second jaw 122 by an additional angle θ as illustrated inFIG. 6A. Similarly actuation motion is also possible in a state in whichthe two jaws are rotated in yaw motion in the direction R. In otherwords, owing to the auxiliary pulleys 123J16 and 123J26, the range ofyaw motion in which actuation motion is possible may be increased. Thiswill now be described in more detail.

Referring to FIG. 6B, the first jaw wire 130J1 is fixedly coupled to theJ11 pulley (not shown), and the second jaw wire 130J2 is fixedly coupledto the J21 pulley 123J21. Thus, if auxiliary pulleys are not arranged,each of the J11 pulley (not shown) and the J21 pulley 123J21 may onlyrotate to a line M in the direction of the arrow L as shown in FIG. 6B.In other words, rotation is possible only to about a right angle toprevent separation of the first jaw wire 130J1 from a fixation couplingpart between the first jaw wire 130J1 and the J11 pulley 123J11. In thiscase, if actuation motion is performed in a state in which the first jaw121 and the second jaw 122 are placed on the line M in FIG. 6B, thefirst jaw 121 may be rotated in the direction R, but the second jaw 122may not be rotated away from the line M in the direction L. Therefore,in a state in which the first jaw 121 and the second jaw 122 are rotatedto a certain angle or greater in yaw motion, actuation motion may not besmoothly performed.

In order to solve this problem, in the instrument 100 for surgeryaccording to the embodiment of the present invention, the J16 pulley123J16 and the J26 pulley 123J26 are additionally arranged as auxiliarypulleys at a side of the J11 pulley 123J11 and the J21 pulley 123J21. Inthis manner, since the J16 pulley 123J16 and the J26 pulley 123J26 arearranged to change the paths of the first jaw wire 130J1 and the secondjaw wire 130J2 to some degree and thus to change tangential directionsof the first jaw wire 130J1 and the second jaw wire 130J2, a fixationcoupling part of the second jaw wire 130J2 and the J21 pulley 123J21 maybe rotated up to a line N of FIG. 6A. That is, the fixation couplingpart of the second jaw wire 130J2 and the J21 pulley 123J21 may berotated until the coupling part is located on a common internal tangentof the J21 pulley 123J21 and the J26 pulley 123J26. Similarly, acoupling part of the first jaw wire 130J1 and the J11 pulley 123J11 maybe rotated until the coupling part is located on an common internaltangent of the J11 pulley 123J11 and the J16 pulley 123J16, therebyextending the range of rotation in the direction R.

In this manner, according to the present invention, the rotation radiiof the first jaw 121 and the second jaw 122 may be increased, therebyobtaining an effect of increasing the range of yaw motion in whichactuation motion is normally performed for opening and closing.

Next, elements relating to the rotation of the J21 pulley 123J21 will bedescribed.

The J22 pulley 123J22 and the J24 pulley 123J24 are placed to face eachother at a side of the J21 pulley 123J21. Here, the J22 pulley 123J22and the J24 pulley 123J24 are independently rotatable around the endtool pitch rotation shaft 123PA. In addition, the J23 pulley 123J23 andthe J25 pulley 123J25 are placed to face each other at a side of the J22pulley 123J22 and the J24 pulley 123J24. Here, the J23 pulley 123J23 andthe J25 pulley 123J25 are independently rotatable around the Y-axisdirection. Although it is illustrated that all of the J22 pulley 123J22,the J23 pulley 123J23, the J24 pulley 123J24, and the J25 pulley 123J25are rotatable around the Y-axis direction, the idea of the presentinvention is not limited thereto, and the rotating axes of therespective pulleys may be oriented in various directions according toconfigurations thereof.

The second jaw wire 130J2 may be sequentially wound to make contact withat least portions of the J23 pulley 123J23, the J22 pulley 123J22, theJ21 pulley 123J21, the J26 pulley 123J26, the J24 pulley 123J24, and theJ25 pulley 123J25, and the second jaw wire 130J2 may move along thepulleys while rotating the pulleys.

Therefore, when the second jaw wire 130J2 is pulled in the direction ofan arrow J2R of FIG. 6A, the second jaw wire 130J2 rotates the J23pulley 123J23, the J22 pulley 123J22, the J21 pulley 123J21, the J26pulley 123J26, the J24 pulley 123J24, and the J25 pulley 123J25. At thistime, as the J21 pulley 123J21 is rotated in the direction of the arrowR of FIG. 6A, the J21 pulley 123J21 rotates the second jaw 122.

On the other hand, when the second jaw wire 130J2 is pulled in thedirection of an arrow J2L of FIG. 6A, the second jaw wire 130J2 rotatesthe J25 pulley 123J25, the J24 pulley 123J24, the J26 pulley 123J26, theJ21 pulley 123J21, the J22 pulley 123J22, and the J23 pulley 123J23. Atthis time, as the J21 pulley 123J21 is rotated in the direction of thearrow L of FIG. 6A, the J21 pulley rotates the second jaw 122.

In addition, if an end portion of the first jaw wire 130J1 is pulled inthe direction of the arrow J1R of FIG. 6A, and at the same time theother end portion of the first jaw wire 130J1 is pulled in the directionof the arrow J1L of FIG. 6A (that is, if both end portions of the firstjaw wire 130J1 are pulled), since the first jaw wire 130J1 is woundaround lower portions of the J12 pulley 123J12 and the J14 pulley 123J14that are rotatable around the end tool pitch rotation shaft 123PA asshown in FIG. 5, the J11 pulley 123J11 to which the first jaw wire 130J1is fixedly coupled, the first jaw 121, the jaw rotation shaft 123JA, andan end tool hub 123 a, and the second jaw 122 connected thereto are allrotated counterclockwise around the end tool pitch rotation shaft 123PA,and as a result, the end tool 120 is rotated downward in pitch motion.At this time, since the second jaw 122 and the second jaw wire 130J2fixedly coupled to the second jaw 122 is wound around upper portions ofthe J22 pulley 123J22 and the J24 pulley 123J24 that are rotatablearound the end tool pitch rotation shaft 123PA, both end portions of thesecond jaw wire 130J2 are respectively moved in directions opposite thedirections of the arrows J2L and J2R.

In contract, if an end portion of the second jaw wire 130J2 is pulled inthe direction of the arrow J2R of FIG. 6A, and at the same time theother end portion of the second jaw wire 130J2 is pulled in thedirection of the arrow J2L of FIG. 6A, since the second jaw wire 130J2is wound around the upper portions of the J22 pulley 123J22 and the J24pulley 123J24 that are rotatable around the end tool pitch rotationshaft 123PA as shown in FIG. 5, the J21 pulley 123J21 to which thesecond jaw wire 130J1 is fixedly coupled, the second jaw 122, the jawrotation shaft 123JA, and the end tool hub 123 a, and the first jaw 121connected thereto are all rotated clockwise around the end tool pitchrotation shaft 123PA, and as a result, the end tool 120 is rotatedupward in pitch motion. At this time, since the first jaw 121 and thefirst jaw wire 130J1 fixedly coupled to the first jaw 121 are woundaround the lower portions of the J12 pulley 123J12 and the J14 pulley123J14 that are rotatable around the end tool pitch rotation shaft123PA, both end portions of the first jaw wire 130J1 are respectivelymoved in directions opposite the directions of the arrows J1L and J1R.

In addition, the end tool 120 of the instrument 100 b for surgery mayfurther include a pitch pulley 123P, the manipulation part 110 mayfurther include a pitch wire end pulley 115P, and the power transmissionpart 130 may further include the pitch wire 130P. In detail, the pitchpulley 123P of the end tool 120 may be rotatable about the end toolpitch rotation shaft 123PA and may be fixedly coupled to the end toolhub 123 a. In addition, a pitch pulley of the manipulation part may berotatable about a pitch rotation shaft and may be fixedly coupled to apitch manipulation part (not shown). In addition, the pitch wire 130Pmay connect the pitch pulley 123P of the end tool 120 to the pitchpulley of the manipulation part.

Thus, if a user rotates a first handle 114 around a pitch rotation shaft1111 while holding the first handle 114 of the manipulation part 110, apitch pulley coupled to the first handle 114 is rotated around the pitchrotation shaft 1111, and the rotation of the pitch pulley is transmittedto the pitch pulley 123P of the end tool 120 through the pitch wire 130Pto rotate the pitch pulley 123P. As a result, the end tool 120 isrotated, and a pitch motion is performed.

That is, since the instrument 100 for surgery according to the firstembodiment of the present invention includes the pitch pulley 123P ofthe end tool 120, the pitch wire end pulley 115P of the manipulationpart 110, and the pitch wire 130P of the power transmission part 130, apitch motion driving force of the pitch manipulation part 111 may bemore completely transmitted to the end tool 120, and thus reliability ofmotion may be improved.

FIG. 6C is a view illustrating a modification of the coupling structureof the end tool and wires.

Referring to FIG. 6C, the second jaw wire 130J2 is coupled to the J21pulley 123J21 as follows. The second jaw wire 130J2 is divided into twowires based on the J21 pulley 123J21: a second jaw R wire 130J2R and asecond jaw L wire 130J2L, and ends of the second jaw R and L wires130J2R and 130J2L are respectively coupled to the J21 pulley 123J21.That is, an end portion of the second jaw R wire 130J2R is coupled to afirst coupling part 123J21R of the J21 pulley 123J21, and an end portionof the second jaw L wire 130J2L is coupled to a second coupling part123J21L of the J21 pulley 123J21.

In this case, the coupling parts 123J21R and 123J21L of the J21 pulley123J21 are positioned to overlap the R and L wires 130J2R and 130J2L.Thus, the rotation radius of the second jaw 122 limited to 90° in FIG.6B may be increased. That is, the rotation radius of the second jaw 122may be increased as shown in FIG. 6A.

Similarly, the first jaw wire 130J1 may be fixedly coupled to the J11pulley 123J11, and thus the rotation radius of the first jaw 121 may beincreased. In this manner, the range of yaw motion in which normalopening/closing actuation motion is possible may be increased.

FIG. 6D is a view illustrating another modification of the couplingstructure of the end tool and wires.

Referring to FIG. 6D, the first jaw wire 130J1 is coupled to the J11pulley 123J11 as follows. The first jaw wire 130J1 is divided into twowires based on the J11 pulley 123J11: a first jaw R wire 130J1R and afirst jaw L wire 130J1L, and ends of the first jaw R and L wires 130J1Rand 130J1L are respectively coupled to a coupling member 123J11C of theJ11 pulley 123J11. In this case, the coupling member 123J21C is providedon a side of the J11 pulley 123J11 opposite the first jaw 121, whereinan end portion of the first jaw R wire 130J1R is coupled to a side ofthe coupling member 123J21C, and an end portion of the first jaw L wire130J1L is coupled to the other side of the coupling member 123J21C.

In this case, the position of the coupling member 123J21C of the J11pulley 123J11 is determined such that the R and L wires 130J1R and130J1L may be further wound a half turn. This increases the rotationradius of the second jaw 122 limited to 90° in FIG. 6B, and thus thesecond jaw 122 may have an increased rotation radius as shown in FIG.6A.

In the same manner, the second jaw wire 130J2 may be fixedly coupled tothe J21 pulley 123J21, and thus the rotation radius of the second jaw122 may be increased. In this manner, the range of yaw motion in whichnormal opening/closing actuation motion is possible may be increased.

(Manipulation Part)

FIG. 7A is a perspective view illustrating the manipulation part of theinstrument for surgery shown in FIG. 2, and FIG. 7B is a rearperspective view illustrating the instrument for surgery shown in FIG.2.

Referring to FIG. 2 to FIG. 7, the manipulation part 110 of theinstrument 100 for surgery includes the first handle 114 which a usermay grip, the actuation manipulation part 113 configured to controlactuation motion of the end tool 120, the yaw manipulation part 112configured to control yaw motion of the end tool 120, and the pitchmanipulation part 111 configured to control pitch motion of the end tool120.

First, an example operation of the instrument 100 for surgery shown inFIG. 2 will be described. In a state in which a user holds the firsthandle 114 with his/her palm, the user may perform a pitch motion byrotating the first handle 114 around the Y axis (that is, around thepitch rotation shaft 1111) and a yaw motion by rotating the first handle114 around the Z axis (that is, around a yaw rotation shaft 1121). Inaddition, in a state in which the user inserts his/her thumb or indexfinger in the actuation manipulation part 113, the user may rotate theactuation manipulation part 113 to perform an actuation motion.

Here, when the manipulation part 110 of the instrument 100 for surgeryis rotated in a direction with respect to the connecting part 140, theend tool 120 is rotated intuitively in the same direction as thedirection in which the manipulation part 110 is manipulated. In otherwords, if the first handle 114 of the manipulation part 110 is rotatedin a certain direction, the end tool 120 is also rotated intuitively inthe same direction as the certain direction, and thus a pitch motion ora yaw motion is performed. Here, the expression “intuitively in the samedirection” may be used to denote that the direction in which a finger ofa user holding the manipulation part 110 is moved is substantially thesame as the direction in which a distal end portion of the end tool 120is moved. The expression “intuitively in same direction” may not referto completely in the same direction in a three-dimensional coordinatesystem. For example, it may be understood that the expression refers tosameness to the following extend: if a finger of a user is movedleftward, the distal end portion of the end tool 120 is also be movedleftward, and if the finger of the user is moved downward, the distalend portion of the end tool 120 is also moved downward.

To this end, in the instrument 100 for surgery of the first embodimentof the present invention, the manipulation part 110 and the end tool 120are provided in the same direction with respect to a plane perpendicularto an extension axis (the X axis) of the connecting part 140. That is,when viewed based on a YZ plane of FIG. 2, the manipulation part 110extends in a positive (+) X-axis direction, and the end tool 120 alsoextends in the positive (+) X-axis direction. In other words, it may bestated that the formation direction of the end tool 120 on an endportion of the connecting part 140 is the same as the formationdirection of the manipulation part 110 on the other end portion of theconnecting part 140 based on the YZ plane. Furthermore, in other words,it may be stated that the manipulation part 110 is located in adirection away from the body of a user holding the manipulation part110, that is, in a direction in which the end tool 120 is provided. Thatis, in the case of parts such as the first handle 114 and actuationrotation parts 1132 a and 1132 b which a user holds and moves foractuation, yaw, and pitch motions, each moving portion extends from therotation center of a corresponding joint for the motions in the positive(+) X-axis direction. In this manner, the manipulation part 110 may beconfigured like the end tool 120 in which each moving portion extendsfrom the rotation center of a corresponding joint for the motions in thepositive (+) X-axis direction, and as described with reference to FIG.1, a manipulation direction of a user may be identical to an operationdirection of the end tool from the viewpoint of rotation directions andleftward and rightward directions. As a result, intuitively the samemanipulation may be performed.

In detail, in the case of an instrument for surgery of the related art,a direction in which a user manipulate a manipulation part is differentfrom a direction in which the end tool is actually operated, that is,intuitively different from the direction in which the end tool isactually operated. Thus, surgeons may not easily intuitively manipulatethe instrument for surgery and may spend a long time to learn a skill ofoperating the end tool in desired directions. In some cases, patientsmay suffer from malfunctions.

In order to solve such problems, the instrument 100 for surgery of thefirst embodiment of the present invention is configured such that themanipulation direction of the manipulation part 110 and the operationdirection of the end tool 120 are intuitively identical to each other.To this end, the manipulation part 110 is configured like the end tool120. That is, in the manipulation part 110, portions that are actuallymoved for actuation, yaw, and pitch motions extend respectively fromrotation centers of corresponding joints in the positive (+) X-axisdirection. This will now be described in more detail.

The first handle 114 may be configured such that a user may grip thefirst handle 114 with his/her hand. In particular, a user may grip thefirst handle 114 by holding around the first handle 114 with his/herpalm. In addition, the actuation manipulation part 113 and the yawmanipulation part 112 are provided above the first handle 114, and thepitch manipulation part 111 is provided at a side of the yawmanipulation part 112. In addition, another end portion of the pitchmanipulation part 111 is connected to the bent part 141 of theconnecting part 140.

The actuation manipulation part 113 includes a first actuationmanipulation part 113 a and a second actuation manipulation part 113 b.The first actuation manipulation part 113 a includes a first actuationrotation shaft 1131 a, a first actuation rotation part 1132 a, a firstactuation pulley 113P1, and a first actuation gear 1134 a. The secondactuation manipulation part 113 b includes a second actuation rotationshaft 1131 b, a second actuation rotation part 1132 b, a secondactuation pulley 113P2, and a second actuation gear 1134 b. Here, thefirst and second actuation rotation parts 1132 a and 1132 b may functionas a second handle.

Here, the actuation rotation shafts 1131 a and 1131 b may make apredetermined angle with an XY plane on which the connecting part 140 islocated. For example, the actuation rotation shafts 1131 a and 1131 bmay be parallel with the Z axis. In this state, if the pitchmanipulation part 111 or the yaw manipulation part 112 is rotated, thecoordinate system of the actuation manipulation part 113 may berelatively varied. However, the idea of the present invention is notlimited thereto, and the actuation rotation shafts 1131 a and 1131 b maybe oriented in various directions according to ergonomic designs for thehand structure of a user holding the actuation manipulation part 113.

In addition, the first actuation rotation part 1132 a, the firstactuation pulley 113P1, and the first actuation gear 1134 a may befixedly coupled to each other so as to be rotated together around thefirst actuation rotation shaft 1131 a. Here, the first actuation pulley113P1 may include a single pulley or two pulleys fixedly coupled to eachother.

Similarly, the second actuation rotation part 1132 b, the secondactuation pulley 113P2, and the second actuation gear 1134 b may befixedly coupled to each other so as to be rotated together around thesecond actuation rotation shaft 1131 b. Here, the second actuationpulley 113P2 may include a single pulley or two pulleys fixedly coupledto each other.

Here, the first actuation gear 1134 a and the second actuation gear 1134b may be engaged with each other, and thus if one of the first andsecond actuation gears 1134 a and 1134 b is rotated, the first andsecond actuation gears 1134 a and 1134 b may be rotated together inopposite directions.

The yaw manipulation part 112 may include a yaw rotation shaft 1121, afirst jaw yaw pulley 112P1, a second jaw yaw pulley 112P2, and a yawframe 1123. In addition, the yaw manipulation part 112 may furtherinclude a first jaw yaw auxiliary pulley 112S1 provided on a side of thefirst jaw yaw pulley 112P1, and a second jaw yaw auxiliary pulley 112S2provided on a side of the second jaw yaw pulley 112P2. Here, the firstjaw yaw auxiliary pulley 112S1 and the second jaw yaw auxiliary pulley112S2 may be coupled to a pitch frame 1113 (described later).

In the drawings, it is illustrated that the yaw manipulation part 112includes the first jaw yaw pulley 112P1 and the second jaw yaw pulley112P2, and each of the first jaw yaw pulley 112P1 and the second jaw yawpulley 112P2 includes two pulleys facing each other and independentlyrotatable. However, the idea of the present invention is not limitedthereto. That is, according to the configuration of the yaw manipulationpart 112, the yaw manipulation part 112 may include one or more pulleyshaving the same diameter or different diameters.

Specifically, the yaw rotation shaft 1121 is provided on a side of theactuation manipulation part 113 above the first handle 114. In thiscase, the first handle 114 is rotatable around the yaw rotation shaft1121.

Here, the yaw rotation shaft 1121 may make a predetermined angle withthe XY plane in which the connecting part 140 is provided. For example,the yaw rotation shaft 1121 may be oriented in a direction parallel tothe Z axis, and in this state, if the pitch manipulation part 111 isrotated, the coordinate system of the yaw rotation shaft 1121 may berelatively varied as described above. However, the idea of the presentinvention is not limited thereto, and the yaw rotation shaft 1121 may beoriented in various directions according to ergonomic designs for thehand structure of a user holding the manipulation part 110.

In addition, the first jaw yaw pulley 112P1 and the second jaw yawpulley 112P2 are coupled to the yaw rotation shaft 1121 such that thefirst jaw yaw pulley 112P1 and the second jaw yaw pulley 112P2 may berotated on the yaw rotation shaft 1121. In addition, the first jaw wire130J1 may be wound around the first jaw yaw pulley 112P1, and the secondjaw wire 130J2 may be wound around the second jaw yaw pulley 112P2. Inthis case, each of the first jaw yaw pulley 112P1 and the second jaw yawpulley 112P2 may include two pulleys facing each other and independentlyrotatable. Therefore, an inward wire and an outward wire may berespectively wound around separate pulleys and thus may not interferewith each other.

The yaw frame 1123 connects the first handle 114, the yaw rotation shaft1121, the first actuation rotation shaft 1131 a, and the secondactuation rotation shaft 1131 b such that the first handle 114, the yawmanipulation part 112, and the actuation manipulation part 113 may berotated together around the yaw rotation shaft 1121.

The pitch manipulation part 111 may include the pitch rotation shaft1111, a first jaw pitch pulley-a 111P1 a, a first jaw pitch pulley-b111P1 b, a second jaw pitch pulley-a 111P2 a, a second jaw pitchpulley-b 111P2 b, and the pitch frame 1113. In addition, the pitchmanipulation part 111 may further include a first jaw pitch auxiliarypulley-a 111S1 a provided at a side of the first jaw pitch pulley-a111P1 a, a first jaw pitch auxiliary pulley-b 111S1 b provided at a sideof the first jaw pitch pulley-b 111P1 b, a second jaw pitch auxiliarypulley-a 111S2 a provided at a side of the second jaw pitch pulley-a111P2 a, and a second jaw pitch auxiliary pulley-b 111S2 b provided at aside of the second jaw pitch pulley-b 111P2 b. The pitch manipulationpart 111 is connected to a bent part 141 of a connecting part 140through the pitch rotation shaft 1111.

In detail, the pitch frame 1113 serves as a base frame of the pitchmanipulation part 111, and the yaw rotation shaft 1121 is rotatablycoupled to an end portion of the pitch frame 1113. That is, the yawframe 1123 is rotatable around the yaw rotation shaft 1121 with respectto the pitch frame 1113.

As described above, the yaw frame 1123 connects the first handle 114,the yaw rotation shaft 1121, the first actuation rotation shaft 1131 a,and the second actuation rotation shaft 1131 b to each other, and isalso connected to the pitch frame 1113. Therefore, if the pitch frame1113 is rotated around the pitch rotation shaft 1111, the yaw frame1123, the first handle 114, the yaw rotation shaft 1121, the firstactuation rotation shaft 1131 a, and the second actuation rotation shaft1131 b connected to the pitch frame 1113 are rotated together. That is,if the pitch manipulation part 111 is rotated around the pitch rotationshafts 1111, the actuation manipulation part 113 and the yawmanipulation part 112 are rotated together with the pitch manipulationpart 111. In other words, if a user rotates the first handle 114 aroundthe pitch rotation shaft 1111, the actuation manipulation part 113, theyaw manipulation part 112, and the pitch manipulation part 111 are movedtogether.

The pitch manipulation part 111, the first jaw pitch pulley-a 111P1 a,the first jaw pitch pulley-b 111P1 b, the second jaw pitch pulley-a111P2 a, and the second jaw pitch pulley-b 111P2 b are coupled to thepitch frame 1113. In this case, the first jaw pitch pulley-a 111P1 a,the first jaw pitch pulley-b 111P1 b, the second jaw pitch pulley-a111P2 a, and the second jaw pitch pulley-b 111P2 b are coupled to thepitch rotation shaft 1111 in a manner rotatable around the pitchrotation shaft 1111.

Here, the first jaw pitch pulley-a 111P1 a and the first jaw pitchpulley-b 111P1 b may face each other and may be independently rotated.Therefore, an inward wire and an outward wire may be respectively woundaround separate pulleys and thus may not interfere with each other.Similarly, the second jaw pitch pulley-a 111P2 a and the second jawpitch pulley-b 111P2 b may face each other and may be independentlyrotated. Therefore, an inward wire and an outward wire may berespectively wound around separate pulleys and thus may not interferewith each other.

Referring to FIG. 7B, the pitch wire end pulley 115P is fixedly coupledto the pitch frame 1113 and rotatable together with the pitch frame1113. In addition, the pitch wire 130P is fixedly coupled to the pitchframe 1113 through a pitch wire auxiliary pulley 115S and the pitch wireend pulley 115P. As a result, the pitch frame 1113 and the pitch wireend pulley 115P may be rotated together around the pitch rotation shaft1111 by pitch rotation.

The pitch wire 130P is operated as follows.

The pitch pulley 123P is fixedly coupled to the end tool hub 123 a ofthe end tool 120, and the manipulation part 110 includes the pitch wireend pulley 115P, wherein the pitch pulley 123P and the pitch wire endpulley 115P are connected to each other through the pitch wire 130P suchthat pitch motion of the end tool 120 may be easily performed bypitch-manipulating the manipulation part 110. Here, both ends of thepitch wire 130P are fixedly coupled to the pitch frame 1113 respectivelythrough the pitch wire auxiliary pulley 115S and the pitch wire endpulley 115P, and the pitch wire end pulley 115P is also fixedly coupledto the pitch frame 1113. That is, the pitch frame 1113 and the pitchwire end pulley 115P are rotated together about the pitch rotation shaft1111 by pitch rotation of the manipulation part, and as a result, bothsides of the pitch wire 130P are also moved in opposite directions suchthat additional power for pitch rotation may be transmittedindependently of pitch motion of the end tool by the first jaw wire130J1 and the second jaw wire 130J2.

The first handle 114, the pitch manipulation part 111, the yawmanipulation part 112, and the actuation manipulation part 113 areconnected as follows. The actuation rotation shafts 1131 a and 1131 b,the yaw rotation shaft 1121, and the pitch rotation shaft 1111 may beprovided on the first handle 114. In this case, since the actuationrotation shafts 1131 a and 1131 b are directly provided on the firsthandle 114, and the first handle 114 and the actuation manipulation part113 may be directly connected to each other. In addition, since the yawrotation shaft 1121 is directly provided on the first handle 114, thefirst handle 114 and the yaw manipulation part 112 may be directlyconnected to each other. However, since the pitch manipulation part 111is provided at a side of the yaw manipulation part 112 and connected tothe yaw manipulation part 112, the pitch manipulation part 111 may notbe directly connected to the first handle 114 but may be indirectlyconnected to the first handle 114 through the yaw manipulation part 112.

Referring to the drawings, in the instrument 100 for surgery accordingto the first embodiment of the present invention, the pitch manipulationpart 111 and the end tool 120 may be provided on the same axis or onparallel axes (to the X axis). That is, the pitch rotation shaft 1111 ofthe pitch manipulation part 111 is provided on an end portion of thebent part 141 of the connecting part 140, and the end tool 120 isprovided on the other end portion of the connecting part 140.

In addition, one or more relay pulleys MP may be placed on a middleportion of the connecting part 140, particularly, on the bent part 141of the connecting part 140 to change paths of wires or guide wires. Atleast portions of wires may be wound around the relay pulleys MP,thereby guiding paths of the wires and arranging the wires along a bentshape of the bent part 141.

In the drawings, it is illustrated that the connecting part 140 includesthe bent part 141 and has a curved shape with a predetermined radius ofcurvature. However, the idea of the present invention is not limitedthereto. If necessary, the connecting part 140 may have a straight shapeor may be bent at least one time, and even in this case, it may bestated that the pitch manipulation part 111 and the end tool 120 areprovided substantially on the same axis or parallel axes. In addition,although FIG. 3 illustrates that the pitch manipulation part 111 and theend tool 120 are provided on an axis parallel to the X axis, the idea ofthe present invention is not limited thereto. For example, the pitchmanipulation part 111 and the end tool 120 may be provided on differentaxes.

Actuation, yaw, and pitch motions in the present embodiment aredescribed below.

First, actuation motion is described below.

In a state in which a user inserts his/her index finger in the firstactuation rotation part 1132 a and his/her thumb in the second actuationrotation part 1132 b, if the user rotates the actuation rotation parts1132 a and 1132 b using one or both of his/her index finger and thumb,the first actuation pulley 113P1 and the first actuation gear 1134 afixedly coupled to the first actuation rotation part 1132 a are rotatedaround the first actuation rotation shaft 1131 a, and the secondactuation pulley 1133 b and the second actuation gear 1134 b fixedlycoupled to the second actuation rotation part 1132 b are rotated aroundthe second actuation rotation shaft 1131 b. At this time, the firstactuation pulley 113P1 and the second actuation pulley 113P2 are rotatedin opposite directions, and thus the first jaw wire 130J1 fixedlycoupled to the first actuation pulley 113P1 at an end portion thereofand the second jaw wire 130J2 fixedly coupled to the second actuationpulley 113P2 at an end portion thereof are also moved in oppositedirections. Then, rotating force is transmitted to the end tool 120through the power transmission part 130, and two jaws 121 and 122 of theend tool 120 perform an actuation motion. Here, as described above, theactuation motion refers to a motion in which the two jaws 121 and 122 issplayed or closed while being rotated in opposite directions. That is,if the actuation rotation parts 1132 a and 1132 b of the actuationmanipulation part 113 are rotated toward each other, the first jaw 121is rotated counterclockwise, and the second jaw 122 is rotatedclockwise, thereby closing the end tool 120. If the actuation rotationparts 1132 a and 1132 b of the actuation manipulation part 113 arerotated away from each other, the first jaw 121 is rotated clockwise,and the second jaw 122 is rotated counterclockwise, thereby opening theend tool 120. In the present embodiment, the first and second actuationrotation parts 1132 a and 1132 b function as a second hand for actuationmotion, and the second handle may be manipulated by gripping the secondhandle two fingers. However, the actuation manipulation part 113 foractuation motion in which two jaws of the end tool 120 are opened orclosed may be configured in a manner different from the aforementionedmanner. In a modification example, the first actuation pulley 113P1 andthe second actuation pulley 113P2 may be oppositely driven using asingle actuation rotation part.

Next, yaw motion will be described below.

If a user rotates the first handle 114 around the yaw rotation shaft1121 while holding the first handle 114, the actuation manipulation part113 and the yaw manipulation part 112 are rotated around the yawrotation shaft 1121 in yaw motion. That is, if the first actuationpulley 113P1 of the first actuation manipulation part 113 a to which thefirst jaw wire 130J1 is fixedly coupled is rotated around the yawrotation shaft 1121, the first jaw wire 130J1 wound around the first jawyaw pulley 112P1 is moved. Likewise, if the second actuation pulley113P2 of the second actuation manipulation part 113 b to which thesecond jaw wire 130J2 is fixedly coupled is rotated around the yawrotation shaft 1121, the second jaw wire 130J2 wound around the secondjaw yaw pulley 112P2 is moved. At this time, the first jaw wire 130J1connected to the first jaw 121 and the second jaw wire 130J2 connectedto the second jaw 122 are wound around the first jaw yaw pulley 112P1and the second jaw yaw pulley 112P2 in such a manner that the first jaw121 and the second jaw 122 are rotated in the same direction in the yawmotion. Then, rotating force is transmitted to the end tool 120 via thepower transmission part 130, and thus the two jaws 121 and 122 of theend tool 120 are rotated in the same direction in yaw motion.

At this time, since the yaw frame 1123 connects the first handle 114,the yaw rotation shaft 1121, the first actuation rotation shaft 1131 a,and the second actuation rotation shaft 1131 b to each other, the firsthandle 114, the yaw manipulation part 112, and the actuationmanipulation part 113 are rotated together around the yaw rotation shaft1121.

Next, pitch motion will be described below.

If a user rotates the first handle 114 around the pitch rotation shaft1111 while holding the first handle 114, the actuation manipulation part113, the yaw manipulation part 112, and the pitch manipulation part 111are rotated around the pitch rotation shaft 1111 in pitch motion. Thatis, if the first actuation pulley 113P1 of the first actuationmanipulation part 113 a to which the first jaw wire 130J1 is fixedlycoupled is rotated around the pitch rotation shaft 1111, the first jawwire 130J1 wound around the first jaw pitch pulley-a 111P1 a and thefirst jaw pitch pulley-b 111P1 b is moved. Likewise, if the secondactuation pulley 113P2 of the second actuation manipulation part 113 bto which the second jaw wire 130J2 is fixedly coupled is rotated aroundthe pitch rotation shaft 1111, the second jaw wire 130J2 wound aroundthe second jaw pitch pulley-a 111P2 a and the second jaw pitch pulley-b111P2 b is moved. At this time, as described with reference to FIG. 5,while both strands of the first jaw wire 130J1 are rotated in the samedirection, and both strands of the second jaw wire 130J2 are rotated inthe same direction, the first jaw wire 130J1 and the second jaw wire130J2 are wound around the first jaw pitch pulleys 111P1 a and 111P1 band the second jaw pitch pulleys 111P2 a and 111P2 b such that the firstjaw 121 and the second jaw 122 may be pitch-rotated. Then, rotatingforce is transmitted to the end tool 120 via the power transmission part130, and thus the two jaws 121 and 122 of the end tool 120 perform apitch motion.

At this time, since the pitch frame 1113 is connected to the yaw frame1123 and the yaw frame 1123 connects the first handle 114, the yawrotation shaft 1121, the first actuation rotation shaft 1131 a, and thesecond actuation rotation shaft 1131 b to each other, if the pitch frame1113 is rotated around the pitch rotation shaft 1111, the yaw frame1123, the first handle 114, the yaw rotation shaft 1121, the firstactuation rotation shaft 1131 a, and the second actuation rotation shaft1131 b connected to the pitch frame 1113 are rotated together. That is,if the pitch manipulation part 111 is rotated around the pitch rotationshaft 11111, the actuation manipulation part 113 and the yawmanipulation part 112 are rotated together with the pitch manipulationpart 111.

In short, according to the instrument 100 for surgery of the embodimentof the present invention, pulleys are respectively provided on jointpoints (a actuation joint, a yaw joint, and a pitch joint), wires (thefirst jaw wire or the second jaw wire) are wound around the pulleys,such that if the manipulation part is rotated (actuation rotation, yawrotation, or pitch rotation), each wire is moved for a desired motion ofthe end tool 120. Furthermore, an auxiliary pulley may be provided at aside of each pulley, and a wire may not be wound several times aroundthe pulley owing to the auxiliary pulley.

FIG. 8 is a view simply illustrating only the configuration of pulleysand wires making up joints of the instrument 100 for surgery shown inFIG. 7 according to the embodiment of the present invention. In FIG. 8,relay pulleys changing paths of wires and not related to the operationof joints are not illustrated.

Referring to FIG. 8, the manipulation part 110 may include the firstactuation pulley 113P1, the first jaw yaw pulley 112P1, the first jawyaw auxiliary pulley 112S1, the first jaw pitch pulley-a 111P1 a, thefirst jaw pitch pulley-b 111P1 b, the first jaw pitch auxiliary pulley-a111S1 a, and the first jaw pitch auxiliary pulley-b 111S1 b that arerelated to rotation of the first jaw 121.

In addition, the manipulation part 110 may include the second actuationpulley 113P2, the second jaw yaw pulley 112P2, the second jaw yawauxiliary pulley 112S2, the second jaw pitch pulley-a 111P2 a, thesecond jaw pitch pulley-b 111P2 b, the second jaw pitch auxiliarypulley-a 111S2 a, and the second jaw pitch auxiliary pulley-b 111S2 bthat are related to rotation of the second jaw 122 (the arrangement andstructure of the pulleys of the manipulation part 100 are the same inprinciple as the arrangement and structure of the pulleys of the endtool 120, and some of reference numerals are omitted in the drawings).

The first jaw yaw pulley 112P1 and the second jaw yaw pulley 112P2 maybe independently rotated around the same axis, that is, the yaw rotationshaft 1121. In this case, each of the first jaw yaw pulley 112P1 and thesecond jaw yaw pulley 112P2 may include two pulleys facing each otherand configured to be independently rotated.

The first jaw yaw auxiliary pulley 112S1 and the second jaw yawauxiliary pulley 112S2 may be independently rotated around the sameaxis. In this case, the first jaw yaw auxiliary pulley 112S1 may includetwo pulleys facing each other and configured to be independentlyrotated, and the two pulleys may have different diameters. Similarly,the second jaw yaw auxiliary pulley 112S2 may include two pulleys facingeach other and configured to be independently rotated, and the twopulleys may have different diameters.

The first jaw pitch auxiliary pulley-a 111S1 a, the first jaw pitchauxiliary pulley-b 111S1 b, the second jaw pitch auxiliary pulley-a111S2 a, and the second jaw pitch auxiliary pulley-b 111S2 b may beindependently rotatable around the same axis. In this case, the firstjaw pitch auxiliary pulley-a 111S1 a and the first jaw pitch auxiliarypulley-b 111S1 b may have different diameters. Further, the second jawpitch auxiliary pulley-a 111S2 a and the second jaw pitch auxiliarypulley-b 111S2 b may have different diameters.

The first jaw pitch pulley-a 111P1 a, the first jaw pitch pulley-b 111P1b, the second jaw pitch pulley-a 111P2 a, and the second jaw pitchpulley-b 111P2 b may be independently rotatable around the same axis,that is, the pitch rotation shaft 1111.

The first jaw wire 130J1 may be wound around the first actuation pulley113P1 after being sequentially laid along the first jaw pitch pulley-a111P1 a, the first jaw pitch auxiliary pulley-a 111S1 a, the first jawyaw auxiliary pulley 112S1, and the first jaw yaw pulley 112P1 of themanipulation part 110, and then may be sequentially laid along the firstjaw yaw pulley 112P1, the first jaw yaw auxiliary pulley 112S1, thefirst jaw pitch auxiliary pulley-b 111S1 b, and the first jaw pitchpulley-b 111P1 b, such that the first jaw wire 130J1 may move along thepulleys while rotating the pulleys. In this case, the first jaw wire130J1 may be fixedly coupled to a point of the first actuation pulley113P1.

The second jaw wire 130J2 may be wound around the second actuationpulley 113P2 after being sequentially laid along the second jaw pitchpulley-a 111P2 a, the second jaw pitch auxiliary pulley-a 111S2 a, thesecond jaw yaw auxiliary pulley 112S2, and the second jaw yaw pulley112P2 of the manipulation part 110, and then may be sequentially laidalong the second jaw yaw pulley 112P2, the second jaw yaw auxiliarypulley 112S2, the second jaw pitch auxiliary pulley-b 111S2 b, and thesecond jaw pitch pulley-b 111P2 b, such that the second jaw wire 130J2may move along the pulleys while rotating the pulleys. In this case, thesecond jaw wire 130J2 may be fixedly coupled to a point of the secondactuation pulley 113P2.

FIG. 9 is a view illustrating the configurations of pulleys and wiresrelating to actuation motion and yaw motion of the instrument 100 forsurgery shown in FIG. 7 separately with respect to a first jaw and asecond jaw, according to the embodiment of the present invention. FIG.9A is a view illustrating only pulleys and wires relating to the secondjaw, and FIG. 9B is view illustrating only pulleys and wires relating tothe first jaw. In addition, FIG. 10 is a perspective view illustrating ayaw motion of the instrument for surgery shown in FIG. 7.

First, the operation of wires in actuation motion will be described.

Referring to FIG. 9B, if the first actuation rotation part 1132 a isrotated around the first actuation rotation shaft 1131 a in thedirection of an arrow OPA1, the first actuation pulley 113P1 connectedto the first actuation rotation part 1132 a is rotated, and both strandsof the first jaw wire 130J1 wound around the first actuation pulley113P1 are moved in directions W1 a and W1 b, thereby rotating the firstjaw 121 of the manipulation part in the direction of an arrow EPA1.

Referring to FIG. 9A, if the second actuation rotation part 1132 b isrotated around the second actuation rotation shaft 1131 b in thedirection of an arrow OPA2, the second actuation pulley 113P2 connectedto the second actuation rotation part 1132 b is rotated, and bothstrands of the second jaw wire 130J2 wound around the second actuationpulley 113P2 are moved in directions W2 a and W2 b, thereby rotating thesecond jaw 122 of the manipulation part in the direction of an arrowEPA2. Therefore, if a user manipulates the first actuation rotation part1132 a and the second actuation rotation part 1132 b in approachingdirections, the first jaw 121 and the second jaw 122 are moved close toeach other.

Next, the operation of wires in yaw motion will be described.

First, since the yaw rotation shaft 1121, the first actuation rotationshaft 1131 a, and the second actuation rotation shaft 1131 b areconnected to each other through the yaw frame 1123 (refer to FIG. 7),the yaw rotation shaft 1121, the first actuation rotation shaft 1131 a,and the second actuation rotation shaft 1131 b are rotated together.

Referring to FIG. 9B, if the first handle 114 is rotated around the yawrotation shaft 1121 in the direction of an arrow OPY1, the firstactuation pulley 113P1, the first jaw yaw pulley 112P1, and the firstjaw wire 130J1 wound around the first actuation pulley 113P1 and thefirst jaw yaw pulley 112P1 are all rotated around the yaw rotation shaft1121, and thus both strands of the first jaw wire 130J1 wound around thefirst jaw yaw pulley 112P1 are moved respectively in the directions W1 aand W1 b, thereby rotating the first jaw 121 of the end tool 120 in thedirection of an arrow EPY1.

Referring to FIG. 9A, if the first handle 114 is rotated around the yawrotation shaft 1121 in the direction of an arrow OPY2, the secondactuation pulley 113P2, the second jaw yaw pulley 112P2, and the secondjaw wire 130J2 wound around the second actuation pulley 113P2 and thesecond jaw yaw pulley 112P2 are all rotated around the yaw rotationshaft 1121, and thus both strands of the second jaw wire 130J2 woundaround the second jaw yaw pulley 112P2 are moved respectively in adirection opposite the direction W1 a and a direction opposite thedirection W1 b, thereby rotating the first jaw 121 of the end tool 120in the direction of an arrow EPY2.

FIG. 11 is a view illustrating the configurations of pulleys and wiresrelating to pitch motion of the instrument 100 for surgery shown in FIG.7 separately with respect to the first jaw and the second jaw, accordingto the embodiment of the present invention. FIG. 11A is a viewillustrating only pulleys and wires relating to the second jaw, and FIG.11B is view illustrating only pulleys and wires relating to the firstjaw. As shown in FIG. 8, pulleys relating to pitch motion are paired,and both strands of each wire are wound in the same path. Thus, in FIG.11, both strands of each wire are illustrated with one line. Inaddition, FIG. 12 is a perspective view illustrating a pitch motion ofthe instrument for surgery shown in FIG. 7.

Referring to FIG. 11B, if the first handle 114 is rotated around thepitch rotation shaft 1111 in the direction of an arrow OPP1, parts suchas the first actuation pulley 113P1, the first jaw pitch auxiliarypulleys 111S1 a and 111S1 b, and the first jaw pitch pulleys 111P1 a and111P1 b, and the first jaw wire 130J1 wound therearound are all rotatedaround the pitch rotation shaft 1111. At this time, since both strandsof the first jaw wire 130J1 are wound around upper portions of the firstjaw pitch pulleys 111P1 a and 111P1 b as shown in FIG. 8, the first jawwire 130J1 is moved in the direction of an arrow W1. Accordingly, asdescribed with reference to FIG. 5, the first jaw 121 of the end tool120 is rotated in the direction of an arrow EPP1.

Referring to FIG. 11A, if the first handle 114 is rotated around thepitch rotation shaft 1111 in the direction of an arrow OPP2, parts suchas the second actuation pulley 113P2, the second jaw pitch auxiliarypulleys 111S2 a and 111S2 b, and the second jaw pitch pulleys 111P2 aand 111P2 b, and the second jaw wire 130J2 wound therearound are allrotated around the pitch rotation shaft 1111. At this time, since bothstrands of the second jaw wire 130J2 are wound around lower portions ofthe second jaw pitch pulleys 111P2 a and 111P2 b, the second jaw wire130J2 is moved in the direction of an arrow W2. Accordingly, asdescribed with reference to FIG. 5, the second jaw 122 of the end tool120 is rotated in the direction of an arrow EPP2.

Thus, operational principles in the first embodiment shown in FIG. 7 maybe explained with reference to FIGS. 8, 9, 10, 11, and 12, and actuationmanipulation, yaw manipulation, and pitch manipulation may beindependently performed.

As described with reference to FIG. 1, the actuation manipulation part113, the yaw manipulation part 112, and the pitch manipulation part 111are configured such that a rotation shaft is located behind eachmanipulation part like the joint configuration of the end tool, and thusa user may intuitively perform manipulations.

Particularly, in the instrument 100 for surgery of the embodiment of thepresent invention, a pulley provided on each joint point (an actuationjoint, an yaw joint, and a pitch joint), a wire (the first jaw wire orthe second jaw wire) is wound around the pulley, and if a manipulationpart is rotated (actuation rotation, yaw rotation, or pitch rotation),the wire is moved to induce a desired motion of the end tool 120.Furthermore, an auxiliary pulley may be provided on a side of eachpulley. Owing to the auxiliary pulley, a wire may not be wound severaltimes around the pulley, wires wound around the pulley may not be incontact with each other, and a path for a wire running toward the pulleyand wound around the pulley and a path in which a wire is wound aroundthe pulley and leaves the pulley may be safely formed, thereby improvingfactors such as safety and efficient in power transmission.

In addition, as described above, the yaw manipulation part 112 and theactuation manipulation part 113 are directly provided on the firsthandle 114. Thus, if the first handle 114 is rotated about the pitchrotation shaft 1111, the yaw manipulation part 112 and the actuationmanipulation part 113 are also rotated together with the first handle114. Thus, the coordinate systems of the yaw manipulation part 112 andthe actuation manipulation part 113 are not fixed, but relatively varyaccording to the rotation of the first handle 114. That is, drawingssuch as FIG. 2 illustrate that the yaw manipulation part 112 and theactuation manipulation part 113 are parallel with the Z axis. However,if the first handle 114 is rotated, the yaw manipulation part 112 andthe actuation manipulation part 113 are not parallel with the Z axis.That is, the coordinate systems of the yaw manipulation part 112 and theactuation manipulation part 113 may change according to the rotation ofthe first handle 114. However, unless described otherwise, thecoordinate systems of the yaw manipulation part 112 and the actuationmanipulation part 113 are described based on the case in which the firsthandle 114 is perpendicular to the connecting part 140 as shown in FIG.2 for ease of description.

<Various Modifications of Joints>

Joint structures for yaw rotation or pulley rotation made up of a mainjoint pulley and an additional auxiliary pulley may be modifiedaccording to the configuration of pulleys, and may be classified into adirect type and an indirect type.

(Direct-Type Joint and Indirect-Type Joint—Yaw Joint)

FIG. 13 is a view illustrating a direct-type joint as an example of ayaw joint, and FIG. 14 is a view illustrating an indirect-type joint asan example of a yaw joint. FIGS. 13A and 14A are views illustrating onlypulleys and wires relating to the second jaw, and FIGS. 13B and 14B areview illustrating only pulleys and wires relating to the first jaw.

Herein, the direct-type joint means that in a relationship between apulley corresponding to a joint position and an auxiliary pulley in astructure including two adjacent pulleys for joint movement, when ajoint part is rotated around a corresponding rotation axis, theauxiliary pulley is not rotated around the rotation shaft correspondingto the joint part but only the pulley corresponding to the jointposition is rotated around the rotation axis of the joint part. On theother hand, the indirect-type joint means that when a joint part isrotated around a corresponding rotation axis, not only a pulleycorresponding to a joint position but also an auxiliary pulley isrotated around the rotation axis of the joint part.

In the direct-type joint shown in FIG. 13, the first jaw yaw pulley112P1 and the first jaw yaw auxiliary pulley 11251 are arranged toneighbor each other for yaw motion of the first jaw 121, and the firstjaw yaw pulley 112P1 is a pulley located on the yaw rotation shaft 1121at a left side in the drawing so as to be rotated around the yawrotation shaft 1121 for yaw rotation. In this case, the first jaw yawauxiliary pulley 11251 is located at a right side in the drawing and isnot rotated around the yaw rotation shaft 1121 during yaw rotation.

Meanwhile, in the indirect-type joint shown in FIG. 14, the first jawyaw pulley 112P1 and the first jaw yaw auxiliary pulley 11251 arearranged to neighbor each other for yaw motion of the first jaw 121, andthe first jaw yaw pulley 112P1 is a pulley located on the yaw rotationshaft 1121 at a right side in the drawing so as to be rotated around theyaw rotation shaft 1121 for yaw rotation. In this case, the first jawyaw auxiliary pulley 11251 is located at a left side in the drawing andis not rotated around the yaw rotation shaft 1121 during yaw rotation.

The direct-type joint and the indirect-type joint are different fromeach other in the movement direction of a wire when a joint is rotatedin the same direction. That is, in the direct-type joint shown in FIG.13, if the yaw rotation shaft 1121 is rotated in a direction OPY,portions of the first jaw wire 130J1 and the second jaw wire 130J2 aremoved in the direction of an arrow D1. However, in the indirect-typejoin shown in FIG. 14, if the yaw rotation shaft 1121 is rotated in thedirection OPY, the portions of the first jaw wire 130J1 and the secondjaw wire 130J2 are moved in the direction of an arrow D2 which isopposite the direction of the arrow D1.

As described above, depending on whether the direct-type joint or theindirect-type joint is selected as a joint structure, the movementdirection of a wire may be changed to the opposite direction withoutchanging the direction of yaw rotation.

(Direct-Type Joint and Indirect-Type Joint-Pitch Joint)

FIG. 15 is a view illustrating an indirect-type joint as an example of apitch joint, and FIG. 16 is a view illustrating a direct-type joint asan example of a pitch joint. FIGS. 15A and 16A are views illustratingonly pulleys and wires relating to the second jaw, and FIGS. 15B and 16Bare view illustrating only pulleys and wires relating to the first jaw.

The indirect-type joint shown in FIG. 15B includes the first jaw pitchpulley-a 111P1 a and the first jaw pitch auxiliary pulley-a 111S1 aneighboring each other for pitch motion of the first jaw 121, and thefirst jaw pitch pulley-a 111P1 a is located at a right side in FIG. 15B.

The direct-type joint shown in FIG. 16B includes the first jaw pitchpulley-a 111P1 a and the first jaw pitch auxiliary pulley-a 111S1 aneighboring each other for pitch motion of the first jaw 121, and thefirst jaw pitch pulley-a 111P1 a is located at a left side in FIG. 15B.

As described above, depending on whether the direct-type joint or theindirect-type joint is selected as a joint structure, the movementdirection of a wire may be changed to the opposite direction withoutchanging the direction of pitch rotation, and the winding direction of awire around a pitch pulley may be changed.

(Various Modifications in the Configuration of Pulleys and Wires)

The configuration of pulleys and wires relating to the actuation motionand yaw motion of the instrument 100 for surgery shown in FIG. 9according to the first embodiment of the present invention may bevariously modified by changing the paths of wires, the sizes andarrangement of joint pulleys, the configuration of manipulation parts,the configuration of the end tool, etc. Hereinafter, various possiblemodifications in the configuration of pulleys and wires will bedescribed.

FIG. 17 is a view illustrating the configuration of pulleys and wires ofthe instrument 100 for surgery shown in FIG. 9 relating to the operationof the first jaw, and modifications thereof, according to the embodimentof the present invention.

Referring to FIG. 17A, in the instrument 100 for surgery of theembodiment of the present invention, wires basically do not cross eachother in the connecting part 140. That is, in the connecting part 140connecting the end tool 120 and the manipulation part 110, both strandsof the first jaw wire 130J1 do not cross each other, and both strands ofthe second jaw wire 130J2 also do not cross each other.

Referring to FIG. 17A, in the instrument 100 for surgery according tothe embodiment of the present invention, each wire spreads out in theconnecting part 140. In other words, since the interval between bothstrands of the first jaw wire 130J1 is smaller at the end tool 120 thanin a region connected to a relay pulley MP owing to the sizes of pulleysand the gaps between pulleys, the interval between both strands of thefirst jaw wire 130J1 increases in a direction from the end tool 120 tothe relay pulley MP, and thus the first jaw wire 130J1 spreads out as awhole.

Referring to FIG. 17A, in the instrument 100 for surgery according tothe embodiment of the present invention, the manipulation part 110 has adirect-type yaw joint. That is, the instrument 100 for surgery includesthe first jaw yaw pulley 112P1 and the first jaw yaw auxiliary pulley112S1 neighboring each other for yaw motion of the first jaw 121,wherein the first jaw yaw pulley 112P1 is located at a left side in thedrawing, and a rotation axis of the first jaw yaw pulley 112P1 is a yawrotation axis. In this case, the first jaw yaw auxiliary pulley 112S1may include two pulleys facing each other and configured to beindependently rotated, and the two pulleys may have different diameters.In this case, each of the first jaw yaw pulley 112P1 and the first jawyaw auxiliary pulley 112S1 may include two pulleys, and both strands ofthe first jaw wire 130J1 may have a height difference, so that a wirewound around the first jaw yaw pulley 112P1 and the first jaw yawauxiliary pulley 112S1 in a crossing manner may not have overlappingpaths. In addition, to this end, two pitch auxiliary pulleys havingdifferent diameters (the first jaw pitch auxiliary pulley-a 111S1 a andthe first jaw pitch auxiliary pulley-b 111S1 b) may be used such thatthe first jaw wire 130J1 may be smoothly wound around pulleys having aheight difference.

Referring to FIG. 17B, the sizes and arrangement of the pitch auxiliarypulleys (the first jaw pitch auxiliary pulley-a 111S1 a and the firstjaw pitch auxiliary pulley-b 111S1 b) connected to the first jaw yawauxiliary pulley 112S1 are different from those shown in FIG. 17A.Therefore, as shown in a lower region of FIG. 17B, the height of a wirewound around the first jaw pitch auxiliary pulley-a 111S1 a and theheight of a wire wound around the first jaw pitch auxiliary pulley-b111S1 b may be opposite, and thus a vertical relationship between bothstrands of the first jaw wire 130J1 may be reversed compared to thatshown in FIG. 17A.

Referring to FIG. FIG. 17C, the first actuation manipulation part 113 afor operating the first jaw is configured differently from the caseshown in FIG. 17A, and the first jaw wire 130J1 connecting the first jawyaw pulley 112P1 and the first actuation pulley 113P1 to each other mayhave a crossing structure such that motions of the end tool 120 byactuation and yaw manipulations of the manipulation part 110 may beperformed in the same manner as that shown in FIG. 17A.

Referring to FIG. 17D, the configuration of the first jaw 121 and theJ11 pulley 123J11 is modified such that the first jaw 121 may beoriented in a direction different from that shown in FIG. 17A. In thiscase, the rotation direction of the first jaw 121 for yaw motion is thesame as that shown in FIG. 17A, but the rotation direction of the firstjaw 121 and the J11 pulley 123J11 for actuation motion is opposite thatshown in FIG. 17A. To this end, the first jaw wire 130J1 connecting thefirst jaw yaw pulley 112P1 and the first actuation pulley 113P1 to eachother may have a crossing structure such that the first jaw wire 130J1may be moved by manipulation of the first actuation manipulation part113 a in a direction opposite the direction shown in FIG. 17A.

This configuration may include two yaw pulleys, two yaw auxiliarypulleys, two pitch pulleys, and two pitch auxiliary pulleys, and a wirethat looks like having a crossing structure in the drawing is actuallylaid in different paths without physical contact, thereby improving thesafety and efficiency of power transmission using the wire.

The above description is for the actuation and yaw motions of the firstjaw, and the drawings are also for describing the actuation and yawmotions of the first jaw. Although relay pulleys and pulleys relating topitch motion are not described, these pulleys may be sufficientlyunderstood, and thus these pulleys are not illustrated in the drawings.In addition, the second jaw may be sufficiently understood from thedrawings and description of the first jaw, and thus drawings and adescription of the second jaw are omitted.

FIG. 18 is view illustrating modifications of the embodiment shown inFIG. 17. For example, wire paths shown in FIG. 17 are modified.

In the modification shown in FIG. 18A, unlike the configuration of thefirst embodiment, both strands of the first jaw wire 130J1 wound aroundthe first jaw 121 are configured to pass over two connection-part relaypulleys MP that are adjacent to each other, and parts such as the firstjaw yaw auxiliary pulley 112S1 are modified for performing the sameoperation as in the first embodiment.

To this end, pitch auxiliary pulleys (the first jaw pitch auxiliarypulley-a 111S1 a and the first jaw pitch auxiliary pulley-b 111S1 b)having different sizes and which the first jaw wire 130J1 passes overare arranged adjacent to each other side by side, wherein the first jawwire 130J1 passing over the first jaw pitch auxiliary pulley-a 111S1 ais wound around the first jaw yaw auxiliary pulley 112S1, and the firstjaw wire 130J1 passing over the first jaw pitch auxiliary pulley-b 111S1b is directly wound around the first jaw yaw pulley 112P1 without beingwound around a yaw auxiliary pulley. Therefore, the modification shownin FIG. 18A allows for the same operation as that in the firstembodiment. The configuration shown in FIG. 18A may be variouslymodified by changing the paths of wires, the sizes and arrangement ofjoint pulleys, the configuration of manipulation parts, theconfiguration of the end tool, etc.

Referring to FIG. 18B, the size of a pitch auxiliary pulley connected toa yaw auxiliary pulley is varied compared to the case shown in FIG. 18A,and thus as shown in a lower region of FIG. 18B, a wire wound around thefirst jaw pitch auxiliary pulley-a 111S1 a and a wire wound around thefirst jaw pitch auxiliary pulley-b 111S1 b are opposite each other inheight. As a result, both strands of the first jaw wire 130J1 may beopposite compared to the case shown in FIG. 18A. Referring to FIG. 18C,the actuation manipulation part 113 a for operating the first jaw isconfigured differently from the case shown in FIG. 18A, and the firstjaw wire 130J1 connecting the first jaw yaw pulley 112P1 and the firstactuation pulley 113P1 may have a crossing structure such that motionsof the end tool 120 by actuation and yaw manipulations of themanipulation part 110 may be performed in the same manner as that shownin FIG. 18A.

Referring to FIG. 18D, the configuration of the first jaw 121 and theJ11 pulley 123J11 is modified such that the first jaw 121 may beoriented in a direction different from that shown in FIG. 18A. In thiscase, the rotation direction of the first jaw 121 for yaw motion is thesame as that shown in FIG. 18A, but the rotation direction of the firstjaw 121 and the J11 pulley 123J11 for actuation motion is opposite thatshown in FIG. 18A. To this end, the first jaw wire 130J1 connecting thefirst jaw yaw pulley 112P1 and the first actuation pulley 113P1 to eachother may have a crossing structure such that the first jaw wire 130J1may be moved by manipulation of the first actuation manipulation part113 a in a direction opposite the direction shown in FIG. 18A.

This configuration may include two yaw pulleys, a yaw auxiliary pulley,two pitch pulleys, and two pitch auxiliary pulleys, and a wire thatlooks like having a crossing structure in the drawing is actually laidin different paths without physical contact, thereby improving thesafety and efficiency of power transmission using the wire.

The above description is for the actuation and yaw motions of the firstjaw, and the drawings are also for describing the actuation and yawmotions of the first jaw. Although relay pulleys and pulleys relating topitch motion are not described, these pulleys may be sufficientlyunderstood, and thus these pulleys are not illustrated in the drawings.In addition, the second jaw may be sufficiently understood from thedrawings and description of the first jaw, and thus drawings and adescription of the second jaw are omitted.

FIG. 19 is view illustrating modifications of the embodiment shown inFIG. 17. For example, wire paths shown in FIG. 17 are modified.

In the modification shown in FIG. 19A, unlike the configuration of thefirst embodiment, both strands of the first jaw wire 130J1 wound aroundthe first jaw 121 are configured to cross each other and pass over twoconnection-part relay pulleys MP that are adjacent to each other, andparts such as the first jaw yaw auxiliary pulley 112S1 are modified forperforming the same operation as in the first embodiment.

In addition, unlike the configuration of the first embodiment, in thecase shown in FIG. 19A, wires cross each other at least once inside theconnecting part 140. That is, in the connecting part 140 connecting theend tool 120 and the manipulation part 110, both strands of the firstjaw wire 130J1 cross each other, and both strands of the second jaw wire130J2 also cross each other. Although both strands of each wire looklike crossing each other in a two-dimensional plane of the drawing, thewires may be arranged without actual physical contact with each other byproperly three-dimensionally positioning relay pulleys to which thewires are connected.

In addition, the first jaw pitch auxiliary pulley-a 111S1 a and thefirst jaw pitch auxiliary pulley-b 111S1 b have the same diameter, andthe first jaw wire 130J1 wound around the first jaw pitch auxiliarypulley-b 111S1 b is configured to be wound around the first jaw yawpulley 112P1 through the first jaw yaw auxiliary pulley 112S1. Inaddition, the first jaw wire 130J1 wound around the first jaw pitchauxiliary pulley-a 111S1 a may be directly wound around the first jawyaw pulley 112P1 without an intervening yaw auxiliary pulley, and owingto this, the modification shown in FIG. 19A allows for the sameoperation as in the first embodiment.

The configuration shown in FIG. 19A may be variously modified bychanging the paths of wires, the sizes and arrangement of joint pulleys,the configuration of manipulation parts, the configuration of the endtool, etc.

Referring to FIG. 19B, the size of a pitch auxiliary pulley connected toa yaw auxiliary pulley is varied compared to the case shown in FIG. 19A.That is, the first jaw pitch auxiliary pulley-a 111S1 a and the firstjaw pitch auxiliary pulley-b 111S1 b have different diameters. Thus, asshown in a lower region of FIG. 19B, two pulleys of the first jaw yawpulley 112P1 may be arranged at different heights. This may be easilyapplied to a configuration in which the first jaw wire 130J1 has acrossing structure between the first actuation pulley 113P1 and thefirst jaw yaw pulley 112P1 as shown in FIG. 19C (described later), andboth sides of the first jaw wire 130J1 may not make actual physicalcontact with each other.

Referring to FIG. 19C, the actuation manipulation part 113 a foroperating the first jaw is configured differently from the case shown inFIG. 19A, and the first jaw wire 130J1 connecting the first jaw yawpulley 112P1 and the first actuation pulley 113P1 may have a crossingstructure such that motions of the end tool 120 by actuation and yawmanipulations of the manipulation part 110 may be performed in the samemanner as that shown in FIG. 19A.

Referring to FIG. 19D, the configuration of the first jaw 121 and theJ11 pulley 123J11 is modified such that the first jaw 121 may beoriented in a direction different from that shown in FIG. 19A. In thiscase, the rotation direction of the first jaw 121 for yaw motion is thesame as that shown in FIG. 19A, but the rotation direction of the firstjaw 121 and the J11 pulley 123J11 for actuation motion is opposite thatshown in FIG. 19A. To this end, the first jaw wire 130J1 connecting thefirst jaw yaw pulley 112P1 and the first actuation pulley 113P1 to eachother may have a crossing structure such that the first jaw wire 130J1may be moved by manipulation of the first actuation manipulation part113 a in a direction opposite the direction shown in FIG. 19A.

This configuration may include one or two yaw pulleys, a yaw auxiliarypulley, two pitch pulleys, and two pitch auxiliary pulleys, and a wirethat looks like having a crossing structure in the drawing is actuallylaid in different paths without physical contact, thereby improving thesafety and efficiency of power transmission using the wire.

In addition, it is also possible to arrange pitch pulleys in place ofthe pitch auxiliary pulleys shown in the drawing.

The above description is for the actuation and yaw motions of the firstjaw, and the drawings are also for describing the actuation and yawmotions of the first jaw. Although relay pulleys and pulleys relating topitch motion are not described, these pulleys may be sufficientlyunderstood, and thus these pulleys are not illustrated in the drawings.In addition, the second jaw may be sufficiently understood from thedrawings and description of the first jaw, and thus drawings and adescription of the second jaw are omitted.

FIG. 20 is view illustrating modifications of the embodiment shown inFIG. 17. For example, wire paths shown in FIG. 17 are modified.

In the modification shown in FIG. 20A, unlike the configuration of thefirst embodiment, both strands of the first jaw wire 130J1 wound aroundthe first jaw 121 are configured to cross each other and pass over twoconnection-part relay pulleys MP that are not adjacent to each other,and parts such as the first jaw yaw auxiliary pulley 112S1 are modifiedfor performing the same operation as in the first embodiment.

In addition, unlike the configuration of the first embodiment, in thecase shown in FIG. 20A, wires cross each other at least once inside theconnecting part 140. That is, in the connecting part 140 connecting theend tool 120 and the manipulation part 110, both strands of the firstjaw wire 130J1 cross each other, and both strands of the second jaw wire130J2 also cross each other. Although both strands of each wire looklike crossing each other in a two-dimensional plane of the drawing, thewires may be arranged without actual physical contact with each other byproperly three-dimensionally adjusting relay pulleys to which the wiresare connected.

In addition, pitch auxiliary pulleys having different sizes (the firstjaw pitch auxiliary pulley-a 111S1 a and the first jaw pitch auxiliarypulley-b 111S1 b) are arranged, and the first jaw pitch auxiliarypulley-a 111S1 a being an outer pitch auxiliary pulley is relativelylarge such that a wire wound around the outer pitch auxiliary pulley maybe wound around the first jaw yaw auxiliary pulley 112S1 located at alower height.

In addition, referring to FIG. 20A, in the instrument 100 for surgeryaccording to the embodiment of the present invention, the manipulationpart 110 has a indirect-type yaw joint. That is, the instrument 100 forsurgery includes the first jaw yaw pulley 112P1 and the first jaw yawauxiliary pulley 112S1 neighboring each other for yaw motion of thefirst jaw 121, wherein the first jaw yaw pulley 112P1 is located at aright side in the drawing, and a rotation axis of the first jaw yawpulley 112P1 is a yaw rotation axis. In this case, the first jaw wire130J1 connecting the first jaw yaw auxiliary pulley 112S1 and the firstactuation pulley 113P1 may be configured to have a crossing structure soas to operate the end tool in the same manner as that shown in FIG. 17Aby actuation and yaw manipulations of the manipulation part 110.

The configuration shown in FIG. 20A may be variously modified bychanging the paths of wires, the sizes and arrangement of joint pulleys,the configuration of manipulation parts, the configuration of the endtool, etc.

Referring to FIG. 20B, the sizes and arrangement of the pitch auxiliarypulleys (the first jaw pitch auxiliary pulley-a 111S1 a and the firstjaw pitch auxiliary pulley-b 111S1 b) connected to the first jaw yawauxiliary pulley 112S1 are different from those shown in FIG. 20A.Therefore, the height of a wire wound around the first jaw pitchauxiliary pulley-a 111S1 a and the height of a wire wound around thefirst jaw pitch auxiliary pulley-b 111S1 b may be opposite, and thus avertical relationship between both strands of the first jaw wire 130J1may be reversed compared to that shown in FIG. 20A.

Referring to FIG. 20C, the actuation manipulation part 113 a foroperating the first jaw is configured differently from the case shown inFIG. 20A, and the first jaw wire 130J1 connecting the first jaw yawauxiliary pulley 112S1 and the first actuation pulley 113P1 may not havea crossing structure such that motions of the end tool 120 by actuationand yaw manipulations of the manipulation part 110 may be performed inthe same manner as that shown in FIG. 20A.

Referring to FIG. 20D, the configuration of the first jaw 121 and theJ11 pulley 123J11 is modified such that the first jaw 121 may beoriented in a direction different from that shown in FIG. 20A. In thiscase, the rotation direction of the first jaw 121 for yaw motion is thesame as that shown in FIG. 20A, but the rotation direction of the firstjaw 121 and the J11 pulley 123J11 for actuation motion is opposite thatshown in FIG. 20A. To this end, the first jaw wire 130J1 connecting thefirst jaw yaw auxiliary pulley 112S1 and the first actuation pulley113P1 to each other may not have a crossing structure such that thefirst jaw wire 130J1 may be moved by manipulation of the first actuationmanipulation part 113 a in a direction opposite the direction shown inFIG. 20A.

This configuration may include two yaw pulleys, two yaw auxiliarypulleys, two pitch pulleys, and two pitch auxiliary pulleys, and a wirethat looks like having a crossing structure in the drawing is actuallylaid in different paths without physical contact, thereby improving thesafety and efficiency of power transmission using the wire.

The above description is for the actuation and yaw motions of the firstjaw, and the drawings are also for describing the actuation and yawmotions of the first jaw. Although relay pulleys and pulleys relating topitch motion are not described, these pulleys may be sufficientlyunderstood, and thus these pulleys are not illustrated in the drawings.In addition, the second jaw may be sufficiently understood from thedrawings and description of the first jaw, and thus drawings and adescription of the second jaw are omitted.

FIG. 21 is view illustrating modifications of the embodiment shown inFIG. 17. For example, wire paths shown in FIG. 17 are modified.

In the modification shown in FIG. 21A, unlike the configuration of thefirst embodiment, both strands of the first jaw wire 130J1 wound aroundthe first jaw 121 are configured to cross each other and pass over twoconnection-part relay pulleys MP that are adjacent to each other, andboth strands of the second jaw wire 130J2 also cross each other.

In addition, the first jaw pitch auxiliary pulley-a 111S1 a and thefirst jaw pitch auxiliary pulley-b 111S1 b have the same diameter, andthe first jaw wire 130J1 wound around the first jaw pitch auxiliarypulley-b 111S1 b is configured to be wound around the first jaw yawpulley 112P1 through the first jaw yaw auxiliary pulley 112S1. Inaddition, the first jaw wire 130J1 wound around the first jaw pitchauxiliary pulley-a 111S1 a may be directly wound around the first jawyaw pulley 112P1 without an intervening yaw auxiliary pulley, and owingto this, the modification shown in FIG. 21A allows for the sameoperation as in the first embodiment.

Here, in the case of FIG. 21A, a yaw pulley and an actuation pulley arenot separately provided, but a common yaw pulley is used. In this case,the yaw pulley and the actuation manipulation part may be connectedthrough gears or the like to implement actuation motion (refer to asecond embodiment).

The configuration shown in FIG. 20A may be variously modified bychanging the paths of wires, the sizes and arrangement of joint pulleys,the configuration of manipulation parts, the configuration of the endtool, etc.

Referring to FIG. 21B, the sizes and arrangement of the pitch auxiliarypulleys (the first jaw pitch auxiliary pulley-a 111S1 a and the firstjaw pitch auxiliary pulley-b 111S1 b) connected to the first jaw yawauxiliary pulley 112S1 are different from those shown in FIG. 21A, andthe first jaw yaw auxiliary pulley 112S1 may be configured to be largerthan the first jaw yaw pulley 112P1 to obtain an effect of crossing bothstrands of the first jaw wire 130J1. Therefore, in the connecting part140 connecting the end tool 120 and the manipulation part 110, bothstrands of the first jaw wire 130J1 may be passed over twoconnection-part relay pulleys MP adjacent to each other without crossingboth strands of the first jaw wire 130J1.

Referring to FIG. 21C, the actuation manipulation part 113 for operatingthe first jaw is configured differently from the case shown in FIG. 21A,and along with this, the configuration of the first jaw 121 and the J11pulley 123J11 is changed so as to orient the first jaw 121 in adirection different from the direction shown in FIG. 21A.

Referring to FIG. 21D, the sizes and arrangement of the pitch auxiliarypulleys (the first jaw pitch auxiliary pulley-a 111S1 a and the firstjaw pitch auxiliary pulley-b 111S1 b) connected to the first jaw yawauxiliary pulley 112S1 are different from those shown in FIG. 21B.Therefore, the height of a wire wound around the first jaw pitchauxiliary pulley-a 111S1 a and the height of a wire wound around thefirst jaw pitch auxiliary pulley-b 111S1 b may be opposite, and thus avertical relationship between both strands of the first jaw wire 130J1may be reversed compared to that shown in FIG. 21B.

This configuration may include one or two yaw pulleys, a yaw auxiliarypulley, two pitch pulleys, and two pitch auxiliary pulleys, and a wirethat looks like having a crossing structure in the drawing is actuallylaid in different paths without physical contact, thereby improving thesafety and efficiency of power transmission using the wire. In addition,it is also possible to arrange pitch pulleys in place of the pitchauxiliary pulleys shown in the drawing.

The above description is for the actuation and yaw motions of the firstjaw, and the drawings are also for describing the actuation and yawmotions of the first jaw. Although relay pulleys and pulleys relating topitch motion are not described, these pulleys may be sufficientlyunderstood, and thus these pulleys are not illustrated in the drawings.In addition, the second jaw may be sufficiently understood from thedrawings and description of the first jaw, and thus drawings and adescription of the second jaw are omitted.

FIG. 22 is view illustrating modifications of the embodiment shown inFIG. 17. For example, wire paths shown in FIG. 17 are modified.

In the modification shown in FIG. 22A, unlike the configuration of thefirst embodiment, both strands of the first jaw wire 130J1 wound aroundthe first jaw 121 are configured to pass over two connection-part relaypulleys MP that are adjacent to each other, and parts such as the firstjaw yaw auxiliary pulley 112S1 are modified for performing the sameoperation as in the first embodiment.

To this end, pitch auxiliary pulleys (the first jaw pitch auxiliarypulley-a 111S1 a and the first jaw pitch auxiliary pulley-b 111S1 b)having different sizes and which the first jaw wire 130J1 passes overare arranged adjacent to each other side by side, wherein the first jawwire 130J1 passing over the first jaw pitch auxiliary pulley-a 111S1 ais wound around the first jaw yaw auxiliary pulley 112S1, and the firstjaw wire 130J1 passing over the first jaw pitch auxiliary pulley-b 111S1b is wound around the first jaw yaw auxiliary pulley 112S1 after passingover an auxiliary pulley SP. Therefore, the modification shown in FIG.22A allows for the same operation as that in the first embodiment.

Here, when FIG. 22 is compared with FIG. 17, the first jaw pitchauxiliary pulley-b 111S1 b is adjacent to the first jaw pitch auxiliarypulley-a 111S1 a, and the auxiliary pulley SP is added between the firstjaw yaw auxiliary pulley 112S1 and the pitch auxiliary pulleys, suchthat the first jaw wire 130J1 passing over the first jaw pitch auxiliarypulley-b 111S1 b may be wound around the first jaw yaw auxiliary pulley112S1 through the auxiliary pulley SP. That is, owing to the addition ofthe auxiliary pulley SP, in the connecting part 140 connecting the endtool 120 and the manipulation part 110 to each other, both strands ofthe first jaw wire 130J1 may pass over tow connection-part relay pulleysMP in parallel with each other, and the pitch auxiliary pulleys that thefirst jaw wire 130J1 may be adjacent to each other. In addition, if thefirst jaw yaw auxiliary pulley 112S1 include two pulleys, the twopulleys may have the same diameter.

The configuration shown in FIG. 22A may be variously modified bychanging the paths of wires, the sizes and arrangement of joint pulleys,the configuration of manipulation parts, the configuration of the endtool, etc.

Referring to FIG. 22B, the size and arrangement of pitch auxiliarypulleys connected to a yaw auxiliary pulley is varied compared to thecase shown in FIG. 22A, and thus a wire wound around the first jaw pitchauxiliary pulley-a 111S1 a and a wire wound around the first jaw pitchauxiliary pulley-b 111S1 b are opposite to each other in height. As aresult, both strands of the first jaw wire 130J1 may be oppositecompared to the case shown in FIG. 22A.

Referring to FIG. 22C, the actuation manipulation part 113 a foroperating the first jaw is configured differently from the case shown inFIG. 22A, and the first jaw wire 130J1 connecting the first jaw yawpulley 112P1 and the first actuation pulley 113P1 may have a crossingstructure such that motions of the end tool 120 by actuation and yawmanipulations of the manipulation part 110 may be performed in the samemanner as that shown in FIG. 22A.

Referring to FIG. 22D, the configuration of the first jaw 121 and theJ11 pulley 123J11 is modified such that the first jaw 121 may beoriented in a direction different from that shown in FIG. 22A. In thiscase, the rotation direction of the first jaw 121 for yaw motion is thesame as that shown in FIG. 22A, but the rotation direction of the firstjaw 121 and the J11 pulley 123J11 for actuation motion is opposite thatshown in FIG. 22A. To this end, the first jaw wire 130J1 connecting thefirst jaw yaw pulley 112P1 and the first actuation pulley 113P1 to eachother may have a crossing structure such that the first jaw wire 130J1may be moved by manipulation of the first actuation manipulation part113 a in a direction opposite the direction shown in FIG. 22A.

This configuration may include two yaw pulleys, two yaw auxiliarypulleys, an auxiliary pulley, two pitch pulleys, and two pitch auxiliarypulleys, and a wire that looks like having a crossing structure in thedrawing is actually laid in different paths without physical contact,thereby improving the safety and efficiency of power transmission usingthe wire.

The above description is for the actuation and yaw motions of the firstjaw, and the drawings are also for describing the actuation and yawmotions of the first jaw. Although relay pulleys and pulleys relating topitch motion are not described, these pulleys may be sufficientlyunderstood, and thus these pulleys are not illustrated in the drawings.In addition, the second jaw may be sufficiently understood from thedrawings and description of the first jaw, and thus drawings and adescription of the second jaw are omitted.

FIG. 23 is view illustrating modifications of the embodiment shown inFIG. 22. For example, wire paths shown in FIG. 22 are modified.

In the case of FIG. 22, the left one of the first jaw yaw pulley 112P1and the first jaw yaw auxiliary pulley 112S1 neighboring each other foryaw motion of the first jaw 121 is the first jaw yaw pulley 112P1.However, in the case of FIG. 23, the first jaw yaw pulley 112P1 isplaced on a right side, and the first jaw yaw auxiliary pulley 112S1 isplaced on a left side. That is, it may be understood that FIG. 22illustrates a direct-type yaw joint, and FIG. 12 illustrates anindirect-type yaw joint.

Due to this difference, the movement directions of both strands of thefirst jaw wire 130J1 by yaw rotation of the manipulation part 110 in thecase of FIG. 12A are opposite those in the case of FIG. 22A. In thiscase, to operate the end tool 110 by actuation and yaw manipulations ofthe manipulation part 120 in the same manner as in the case shown inFIG. 22A, both strands of the first jaw wire 130J1 may be crossed eachother and passed over two adjacent connection-part relay pulleys MP inthe connecting part 140 connecting the end tool 120 and the manipulationpart 110.

The configuration shown in FIG. 23A may be variously modified bychanging the paths of wires, the sizes and arrangement of joint pulleys,the configuration of manipulation parts, the configuration of the endtool, etc.

Referring to FIG. 23B, the size and arrangement of pitch auxiliarypulleys connected to a yaw auxiliary pulley is varied compared to thecase shown in FIG. 23A, and thus a wire wound around the first jaw pitchauxiliary pulley-a 111S1 a and a wire wound around the first jaw pitchauxiliary pulley-b 111S1 b are opposite to each other in height. As aresult, both strands of the first jaw wire 130J1 may be oppositecompared to the case shown in FIG. 23A.

Referring to FIG. 23C, the actuation manipulation part 113 a foroperating the first jaw is configured differently from the case shown inFIG. 23A, and the first jaw wire 130J1 connecting the first jaw yawpulley 112P1 and the first actuation pulley 113P1 may not have acrossing structure such that motions of the end tool 120 by actuationand yaw manipulations of the manipulation part 110 may be performed inthe same manner as that shown in FIG. 23A.

Referring to FIG. 23D, the configuration of the first jaw 121 and theJ11 pulley 123J11 is modified such that the first jaw 121 may beoriented in a direction different from that shown in FIG. 23A. In thiscase, the rotation direction of the first jaw 121 for yaw motion is thesame as that shown in FIG. 23A, but the rotation direction of the firstjaw 121 and the J11 pulley 123J11 for actuation motion is opposite thatshown in FIG. 23A. To this end, the first jaw wire 130J1 connecting thefirst jaw yaw pulley 112P1 and the first actuation pulley 113P1 to eachother may not have a crossing structure such that the first jaw wire130J1 may be moved by manipulation of the first actuation manipulationpart 113 a in a direction opposite the direction shown in FIG. 23A.

This configuration may include two yaw pulleys, two yaw auxiliarypulleys, an auxiliary pulley, two pitch pulleys, and two pitch auxiliarypulleys, and a wire that looks like having a crossing structure in thedrawing is actually laid in different paths without physical contact,thereby improving the safety and efficiency of power transmission usingthe wire.

The above description is for the actuation and yaw motions of the firstjaw, and the drawings are also for describing the actuation and yawmotions of the first jaw. Although relay pulleys and pulleys relating topitch motion are not described, these pulleys may be sufficientlyunderstood, and thus these pulleys are not illustrated in the drawings.In addition, the second jaw may be sufficiently understood from thedrawings and description of the first jaw, and thus drawings and adescription of the second jaw are omitted.

FIG. 24 is view illustrating modifications of the embodiment shown inFIG. 21. For example, wire paths shown in FIG. 21 are modified.

In the case of FIG. 21, a yaw pulley and an actuation pulley are notseparately provided, but a common yaw pulley is used. However, in thecase of FIG. 24A, the actuation pulley 113P1 is used in addition to thejaw yaw pulley 112P1. To this end, both strands of the first jaw wire130J1 passing over the first jaw pitch auxiliary pulley-a 111S1 a andthe first jaw pitch auxiliary pulley-b 111S1 b are wound around the jawyaw pulley 112P1, crossed each other, and then wound around theactuation pulley 113P1. In this case, for the same operation in themodification example shown in FIG. 24A as in the example shown in FIG.21, the position and rotation direction of the first actuationmanipulation part 113 a in the FIG. 24A may be opposite those shown inFIG. 21.

The configuration shown in FIG. 24A may be variously modified bychanging the paths of wires, the sizes and arrangement of joint pulleys,the configuration of manipulation parts, the configuration of the endtool, etc.

Unlike the case shown in FIG. 24A, the first jaw yaw auxiliary pulley112S1 may be larger than the first jaw yaw pulley 112P1, and in thiscase, an effect of crossing both strands of the first jaw wire 130J1 maybe obtained. Therefore, in the connecting part 140 connecting the endtool 120 and the manipulation part 110, both strands of the first jawwire 130J1 may be passed over two connection-part relay pulleys MPadjacent to each other without crossing both strands of the first jawwire 130J1.

Referring to FIG. 24C, the actuation manipulation part 113 for operatingthe first jaw is configured differently from the case shown in FIG. 24A,and along with this, the configuration of the first jaw 121 and the J11pulley 123J11 is changed so as to orient the first jaw 121 in adirection different from the direction shown in FIG. 24A.

Referring to FIG. 24D, the sizes and arrangement of the pitch auxiliarypulleys (the first jaw pitch auxiliary pulley-a 111S1 a and the firstjaw pitch auxiliary pulley-b 111S1 b) connected to the first jaw yawauxiliary pulley 112S1 are different from those shown in FIG. 24B.Therefore, the height of a wire wound around the first jaw pitchauxiliary pulley-a 111S1 a and the height of a wire wound around thefirst jaw pitch auxiliary pulley-b 111S1 b may be opposite, and thus avertical relationship between both strands of the first jaw wire 130J1may be reversed compared to that shown in FIG. 24B.

This configuration may commonly include one or two actuation pulleys,one or two yaw pulleys, a yaw auxiliary pulley, two pitch pulleys, andtwo pitch auxiliary pulleys, and a wire that looks like having acrossing structure in the drawing is actually laid in different pathswithout physical contact, thereby improving the safety and efficiency ofpower transmission using the wire. In addition, it is also possible toarrange pitch pulleys in place of the pitch auxiliary pulleys shown inthe drawing.

The above description is for the actuation and yaw motions of the firstjaw, and the drawings are also for describing the actuation and yawmotions of the first jaw. Although relay pulleys and pulleys relating topitch motion are not described, these pulleys may be sufficientlyunderstood, and thus these pulleys are not illustrated in the drawings.In addition, the second jaw may be sufficiently understood from thedrawings and description of the first jaw, and thus drawings and adescription of the second jaw are omitted.

FIG. 25 is view illustrating modifications of the embodiment shown inFIG. 17. For example, wire paths shown in FIG. 17 are modified.

Here, the modifications are different from the embodiment shown in FIG.17 in that ends of both strands of the first jaw wire 130J1 are notcoupled to the same actuation pulley but are coupled to differentactuation pulleys. That is, one end of the first jaw wire 130J1 iscoupled to the first actuation pulley 113P1, and the other end of thefirst jaw wire 130J1 is coupled to the second actuation pulley 113P2. Inthis case, it is necessary that rotations of the two actuation pulleysare synchronized with each other using gears or the like. That is, thetwo actuation pulleys have to be connected in such a manner that if oneof the actuation pulleys is rotated, the other of the actuation pulleysis accordingly rotated.

As described above, since rotations of the two actuation pulleys aresynchronized with each other, although both strands of the first jawwire 130J1 are not wound around one actuation pulley but are woundaround different actuation pulleys, the same effect may be obtained.

In this structure, it may be considered that the first jaw wire 130J1forms a virtual closed circuit as indicated using a dashed line in FIG.25A, and the virtual closed circuit may be called a virtual loop.

The configuration shown in FIG. 25A may be variously modified bychanging the paths of wires, the sizes and arrangement of joint pulleys,the configuration of manipulation parts, the configuration of the endtool, etc.

In FIG. 25B, the actuation pulleys around which both strands of thefirst jaw wire 130J1 are wound are configured differently from theconfiguration shown in FIG. 25A. That is, in this case, one end portionof the first jaw wire 130J1 coupled to the first actuation pulley 113P1in FIG. 25A is coupled to the second actuation pulley 113P2. Similarly,in this case, the other end portion of the first jaw wire 130J1 coupledto the second actuation pulley 113P2 in FIG. 25A is coupled to the firstactuation pulley 113P1.

As described above, when wires wound around yaw pulleys are connected toactuation pulleys, the wires may be coupled to any one of the actuationpulleys. This is because the two actuation pulleys are synchronized witheach other using gears or the like. However, in winding around anyactuation pulley, the direction of winding has to be properly determinedaccording to the rotation direction of the actuation pulley so as tomake actuation manipulation identical to a final actuation motion of theend tool.

The above description is for the actuation and yaw motions of the firstjaw, and the drawings are also for describing the actuation and yawmotions of the first jaw. Although relay pulleys and pulleys relating topitch motion are not described, these pulleys may be sufficientlyunderstood, and thus these pulleys are not illustrated in the drawings.In addition, the second jaw may be sufficiently understood from thedrawings and description of the first jaw, and thus drawings and adescription relating to the operation of the second jaw are omitted.

FIG. 26 is view illustrating modifications of the embodiment shown inFIG. 25. For example, the positions of actuation pulleys shown in FIG.25 are modified.

Here, the modifications are different from the embodiment shown in FIG.25 in that two actuation pulleys are not adjacent to each other but arespaced apart from each other and are opposite each other with respect tothe first jaw yaw pulley 112P1. If the two actuation pulleys aresynchronized with each other using gears or the like, the same operationas that explained with reference to FIG. 25 may be possible.

This configuration makes it possible to place the actuation pulleys atmore rearward positions than in other embodiments. That is, a longactuation handle may be provided, and thus actuation manipulation may bemore easily performed. The reason for this is that as the length of ahandle increases, actuation manipulation is performed with less forceowing to the principle of the lever.

FIG. 26A is a view illustrating actuation motion and yaw motion of thefirst jaw, and FIG. 26B is a view illustrating actuation motion and yawmotion of the second jaw.

The configurations shown in FIGS. 26A and 26B may be variously modifiedby changing the paths of wires, the sizes and arrangement of jointpulleys, the configuration of manipulation parts, the configuration ofthe end tool, etc.

FIG. 27 is view illustrating modifications of the embodiment shown inFIG. 17. For example, the positions of actuation pulleys shown in FIG.25 are modified.

Unlike the configured in the first embodiment, in the case shown in FIG.27A, both strands of the first jaw wire 130J1 wound around the first jaw121 pass over two adjacent connection-part relay pulleys MP, the firstjaw yaw pulley 112P1 and the first jaw yaw auxiliary pulley 112S1neighbor each other for yaw motion, the first jaw yaw pulley 112P1 isplaced on a right side in the drawing, and the rotation axis of thefirst jaw yaw pulley 112P1 is a yaw rotation axis.

Here, the modifications are different from the embodiment shown in FIG.17 in that two actuation pulleys are not adjacent to each other but arespaced apart from each other and are opposite each other with respect toa yaw pulley.

In addition, the modifications are different from the embodiments shownin FIGS. 17, 25, and 26 in that the positional relationship (front-rearpositional relationship) between a yaw pulley and a yaw auxiliary pulleyis modified. That is, even in a direct-type joint, the first jaw yawpulley 112P1 is placed on a right side in the drawing, and the rotationaxis of the first jaw yaw pulley 112P1 is a yaw rotation axis. To thisend, the first jaw wire passing over the first jaw pitch auxiliarypulley-a 111S1 a is wound around the first jaw yaw auxiliary pulley112S1, passed over the first jaw yaw pulley 112P1, and fixedly coupledto the first actuation pulley 113P1. In addition, the first jaw wirepassing over the first jaw pitch auxiliary pulley-b 111S1 b is passedover the first jaw yaw pulley 112P1 and directly fixedly coupled to thefirst actuation pulley 113P1 without passing over the first jaw yawauxiliary pulley 112S1.

In this configuration, a yaw rotation axis may be located closer to apitch rotation axis than in other embodiments. As a result, a user mayperform more natural, intuitive manipulation.

In addition, this configuration makes it possible to place the actuationpulleys at more rearward positions than in other embodiments. That is, along actuation handle may be provided, and thus actuation motion may bemore easily performed. The reason for this is that as the length of ahandle increases, actuation manipulation is performed with less forceowing to the principle of the lever.

FIG. 27A is a view illustrating actuation motion and yaw motion of thefirst jaw, and FIG. 27B is a view illustrating actuation motion and yawmotion of the second jaw.

The configurations shown in FIGS. 27A and 27B may be variously modifiedby changing the paths of wires, the sizes and arrangement of jointpulleys, the configuration of manipulation parts, the configuration ofthe end tool, etc.

*Modification of Actuation Manipulation Part

FIG. 28 is a view illustrating another modification of the embodimentshown in FIG. 8.

Here, an instrument for surgery according to this modification ischaracteristically different from the instrument 100 for surgery of thefirst embodiment of the present invention (refer to FIG. 8) in theconfiguration of an actuation pulley 113P of an manipulation part 110.That is, in the instrument 100 for surgery of FIG. 8, actuation pulleysare respectively provided on two actuation rotation shafts, and jawwires are respectively wound around the actuation pulleys.

Specifically, in the instrument 100 for surgery of FIG. 8, the firstactuation pulley 113P1 is provided on the first actuation rotation shaft1131 a, and the first jaw wire 130J1 is wound around the first actuationpulley 113P1. Similarly, the second actuation pulley 113P2 is providedon the second actuation rotation shaft 1131 b, and the second jaw wire130J2 is wound around the second actuation pulley 113P2.

However, the modification shown in FIG. 28 is characteristicallydifferent in that both two jaw wires are wound around one actuationrotation shaft. That is, the actuation pulley 113P is provided on anactuation rotation shaft 1131, a first jaw wire 130J1 is wound around alower portion of the actuation pulley 113P, and a second jaw wire 130J2is wound around an upper portion of the actuation pulley 113P. However,since the two wires 130J1 and 130J2 have to be rotated in oppositedirections by rotation of the actuation rotation shaft 1131, one of thetwo wires 130J1 and 130J2 has a crossing structure. In FIG. 28, thesecond jaw wire 130J2 is crossed between the actuation pulley 113P and asecond jaw yaw pulley 112P2.

The structure of an actuation manipulation part except for the actuationrotation shaft and the actuation pulley is the same as above, that is, afirst actuation rotation part (not shown), a first actuation gear 1134a, a second actuation rotation part (not shown), and a second actuationgear 1134 b are provided. Here, the gears connect operations of the twoactuation rotation parts to each other such that if one of two fingersholding the two actuation rotation parts is moved, the other finger mayalso be moved. In addition, owing to the gears, the amounts of rotationof the two actuation rotation parts may be equal. Instead of the gears,a link structure may be used to obtain the same effect.

*Modification of Pitch Manipulation Part

FIG. 29 is a view illustrating another modification of the embodimentshown in FIG. 16. Here, FIG. 29A is a side view, and FIG. 29B is a planview.

Here, an instrument for surgery according to this modification ischaracteristically different from the instrument 100 for surgery of theembodiment of the present invention (refer to FIG. 16) in theconfiguration of an manipulation part 110 and an end tool 120. That is,in the instrument 100 for surgery shown in FIG. 16, pitch pulleys havethe same diameter. However, in FIG. 29, pitch pulleys have differentdiameters.

That is, the J12 pulley 123J12 and J14 pulley 123J14 of the end tool 120face each other and have different diameters, and the first jaw pitchpulley-a 111P1 a and the first jaw pitch pulley-b 111P1 b of themanipulation part 110 face each other and have different diameters.

In this case, the ratio of the different diameters of the pitch pulleysof the end tool 120 (that is, the diameter ratio of the J12 pulley123J12 and the J14 pulley 123J14) is set to be equal to the ratio of thedifferent diameters of the pitch pulleys of the manipulation part 110(that is, the diameter ratio of the first jaw pitch pulley-a 111P1 a andthe first jaw pitch pulley-b 111P1 b) such that the amount of angularmovement of both strands of a jaw wire by pitch rotation of themanipulation part 110 may be equal to the amount of angular movement ofboth strands of a wire by pitch rotation of the end tool 120, and thuspitch motion may be normally performed. Thus, even in the case of adirect-type pitch joint, pitch pulleys having different diameters may beused. This method may also be applied to a yaw joint. That is, the yawpulleys of the manipulation part 110 may be configured to havingdifferent diameters and the J11 pulley 123J11 and the J21 pulley 123J21of the end tool 120 may be configured to have different diameters, so asto provide a direct-type yaw joint constituted by yaw pulleys havingdifferent pulleys.

As described above, the instrument 100 for surgery according to thefirst embodiment of the present invention may be modified by variouslymodifying the yaw joint, the pitch joint, and the actuation joint toprovide instruments for surgery according to various embodiments thathave the same function as the instrument 100 for surgery of the firstembodiment. The above-described modifications described as modificationexamples of each joint may be variously combined to provide variousother modifications.

In addition, the idea of the present invention is not limited to thoseillustrated in the accompanying drawings. For example, various wires,pulleys, and joint constituted thereof may be combined to provide thesame function as that of the instrument 100 for surgery of the firstembodiment.

<Modification for Insulation>

FIGS. 30 and 31 are views illustrating a modification relating toinsulation.

Referring to FIGS. 30 and 31, an instrument for surgery according to theembodiment is characteristically different from the above-describedinstrument 100 for surgery of the present invention (refer to FIG. 2) inthat the instrument for surgery further include an insulation assemblyfor insulating each wire. That is, an end tool and a manipulation partare separated for electrical insulation, and thus even when anadditional electrical wire is connected to the end tool to use jaws ofthe end tool for electrical cautery, the manipulation part may be safelyelectrically insulated. To this end, an insulation assembly is providedon a middle portion of each wire physically connecting the end tool andthe manipulation part for insulating the end tool and the manipulationpart from each other. To this end, a first insulation assembly 135, asecond insulation assembly 136, and a third insulation assembly 137 aresequentially arranged along a bent part 141 of a connecting part 140,and each insulation assembly sequentially insulates two wires.

In the drawings, the first insulation assembly 135, the secondinsulation assembly 136, and the third insulation assembly 137 aresequentially arranged from a side close to the end tool 120. However,the idea of the invention is not limited thereto, and if necessary, thestructure and arrangement of each insulation assembly may be variouslymodified.

Hereinafter, the first insulation assembly 135 will be described in moredetail.

Here, a second jaw R wire 130J2R refers to the right one of both strandsof a second jaw wire 130J2, and the second jaw R wire 130J2R is dividedinto two: a second jaw R wire-in 130J2Rin entering the first insulationassembly 135 and a second jaw R wire-out 130J2Rout leaving the firstinsulation assembly 135.

In addition, a first jaw L wire 130J1L refers to the left one of bothstrands of a first jaw wire 130J1, and the first jaw L wire 130J1L isdivided into two: a first jaw L wire-in 130J1Lin entering the firstinsulation assembly 135 and a first jaw L wire-out 130J1Lout leaving thefirst insulation assembly 135.

The first insulation assembly 135 includes a second jaw R wire-in pulley1352Rin, a second jaw R wire-out pulley 1352Rout, and a second jaw Rwire insulation pulley 1352Ris that relate to insulation of the secondjaw R wire. Here, the second jaw R wire-in 130J2Rin is coupled to thesecond jaw R wire-in pulley 1352Rin, and the second jaw R wire-out130J2Rout is coupled to the second jaw R wire-out pulley 1352Rout. Inaddition, the second jaw R wire insulation pulley 1352Ris is placedbetween the second jaw wire-in pulley 1352Rin and the second jaw Rwire-out pulley 1352Rout to insulate the second jaw wire-in pulley1352Rin and the second jaw R wire-out pulley 1352Rout from each otherand thus to insulate the second jaw R wire-in 130J2Rin and the secondjaw R wire-out 130J2Rout from each other.

In this case, a recess is formed in one of the second jaw wire-in pulley1352Rin and the second jaw R wire insulation pulley 1352Ris, and aprotrusion formed on the other is coupled to the recess. In this case, arecess is formed in one of the second jaw wire-out pulley 1352Rout andthe second jaw R wire insulation pulley 1352Ris, and a protrusion formedon the other is coupled to the recess. In this case, the protrusion (orrecess) of the second jaw wire-in pulley 1352Rin and the protrusion (orrecess) of the second jaw R wire-out pulley 1352Rout are isolated fromeach other for insulating the second jaw R wire-in 130J2Rin and thesecond jaw R wire-out 130J2Rout from each other.

That is, owing to the aforementioned configuration, although the secondjaw R wire-in 130J2Rin, the second jaw wire-in pulley 1352Rin, thesecond jaw R wire-out 130J2Rout, and the second jaw R wire-out pulley1352Rout is formed of a conductor such as a metal, the second jaw Rwire-in 130J2Rin and the second jaw R wire-out 130J2Rout may beinsulated from each other by forming the second jaw R wire insulationpulley 1352Ris using a nonconductor.

Owing to the configuration, the second jaw R wire-in 130J2Rin enteringthe first insulation assembly 135 may be electrically insulated from thesecond jaw R wire-out 130J2Rout leaving the first insulation assembly135, and during the manipulation of the manipulation part and theoperation of the end tool, power may be transmitted as if a singlecontinuous wire is used for the power transmission.

In addition, the first insulation assembly 135 includes a first jaw Lwire-in pulley 1351Lin, a first jaw L wire-out pulley 1351Lout, and afirst jaw L wire insulation pulley 1351Lis that relate to insulation ofthe first jaw R wire. This configuration is the same in principle asthat for insulating the first jaw R wire described above, and thus adetailed description thereof will be omitted.

In addition, the first insulation assembly 135 may include a first jaw Rwire relay pulley 1351Rme, a second jaw L wire relay pulley 1352Lme, atleast one pitch wire relay pulley 135Pme, and at least one auxiliaryinsulation pulley 135IsAs being a nonconductor. Here, auxiliaryinsulation pulleys 135IsAs are respectively inserted into a second jaw Rwire relay pulley 1352Rme, the second jaw L wire relay pulley 1352Lme,the pitch wire relay pulley 135Pme, and another pitch wire relay pulley(not shown); the first jaw R wire (not shown) passes over the first jawR wire relay pulley 1351Rme while being wound around the first jaw Rwire relay pulley 1351Rme; a second jaw L wire (not shown) passes overthe second jaw L wire relay pulley 1352Lme while being wound around thesecond jaw L wire relay pulley 1352Lme; and both strands of a pitch wire(not shown) pass over two pitch wire relay pulleys 135Pme while beingwound around the two pitch wire relay pulleys 135Pme.

Owing to this configuration, wires connected to the first insulationassembly 135 from the end tool 120, and pulleys of the first insulationassembly 135 around which the wires are wound may be electricallyseparated from rotation shafts of the pulleys of the first insulationassembly 135 and wires.

In more detail, if wires and pulleys of the first insulation assemblyare metallic, pulleys formed of an electrically insulative material maybe placed between the metallic pulleys so as to electrically separatethe end tool and the manipulation part as described above, and if onlywires are metallic, elements of the first insulation assembly may beformed of an electrically insulative material so as to electricallyseparate the end tool and the manipulation part as described above.

In the same manner as in the first insulation assembly 135, the firstjaw R wire and the second jaw L wire are separated and insulated in thesecond insulation assembly 136, and both strands of a pitch wire areseparated and insulated in the third insulation assembly 137.

According to the configuration, each wire connecting the end tool andmanipulation part is completely insulated, and thus the end tool and themanipulation part may be separately insulated for electrical safety ofthe manipulation part. Each insulation assembly described above ischaracterized in that the insulation assembly electrically disconnectsan intermediate point of a wire connected from the end tool to themanipulation part for electrically insulating the end tool from themanipulation part. The above description is given for the case in whichwires and pulleys of the insulation assemblies are metallic. However, ifthe pulleys (such as the first jaw L wire-in pulley 1351Lin and thefirst jaw L wire-out pulley 1351Lout) are formed of a nonconductor thatdoes not conduct electricity, the first jaw L wire-in pulley 1351Lin,the first jaw L wire-out pulley 1351Lout, and the first jaw L wireinsulation pulley 1351Lis may not be separate and may constitute asingle nonconductor pulley. This modification may be sufficientlydeduced from the above description, and thus a detailed descriptionthereof will be omitted.

MODE OF THE INVENTION Second Embodiment of Instrument for Surgery

Hereinafter, an instrument 200 for surgery will be described accordingto a second embodiment of the present invention. Here, the instrument200 for surgery of the second embodiment of the present invention ischaracteristically different in the configuration of a manipulation part210 of the instrument 200 from the instrument 100 for surgery (refer toFIG. 2) of the first embodiment of the present invention. That is, inthe instrument 200 for surgery of the second embodiment of the presentinvention, the modification shown in FIG. 21 is specifically embodied.This difference in the configuration from the first embodiment will bedescribed later in detail.

FIG. 32 is a perspective view illustrating the instrument for surgeryaccording to the second embodiment of the present invention, FIG. 33 isan inside perspective view illustrating the instrument for surgery ofFIG. 32, and FIG. 34 is a side view of the instrument for surgery ofFIG. 33. In addition, FIGS. 35 and 36 are perspective views illustratingthe manipulation part of the instrument for surgery shown in FIG. 33.

Referring to FIG. 32 to FIG. 40, according to the second embodiment ofthe present invention, the manipulation part 210 of the instrument 200for surgery includes a pitch manipulation part 211 configured to controlpitch motion of an end tool 220, a yaw manipulation part 212 configuredto control yaw motion of the end tool 220, an actuation manipulationpart (actuation operator) 213 configured to control actuation motion ofthe end tool 220, and a first handle 214 that a user may hold.

First, an example operation of the instrument 200 for surgery shown inFIG. 32 will be described. In a state in which a user holds the firsthandle 214 with his/her palm, the user may perform a pitch motion byrotating the first handle 214 around an Y axis (that is, around a pitchrotation shaft 2111) and a yaw motion by rotating the first handle 214around a Z axis (that is, around a yaw rotation shaft 2121), and in astate in which the user inserts his/her thumb and index finger into theactuation manipulation part 213, the user may perform an actuationmotion by rotating the actuation manipulation part 213.

Here, the instrument 200 for surgery of the second embodiment of thepresent invention also has the feature in which the end tool 120 and themanipulation part 110 of the instrument 100 for surgery of the firstembodiment of the present invention are rotated in intuitively the samedirection.

To this end, the manipulation part 210 is configured like the end tool220. That is, in the manipulation part 210, portions that are actuallymoved for actuation, yaw, and pitch motions extend respectively fromrotation centers of corresponding joints in a positive (+) X-axisdirection.

In detail, the first handle 214 may be configured such that a user maygrip the first handle 214 with his/her hand. In particular, a user maygrip the first handle 214 by holding around the first handle 214 withhis/her palm. In addition, the actuation manipulation part 213 and theyaw manipulation part 212 are provided above the first handle 214, andthe pitch manipulation part 211 is provided at a side of the yawmanipulation part 212. In addition, another end portion of the pitchmanipulation part 211 is connected to the bent part 241 of theconnecting part 240.

The actuation manipulation part 213 includes a first actuationmanipulation part 213 a and a second actuation manipulation part 213 b.The first actuation manipulation part 213 a includes a first actuationrotation shaft 2131 a, a first actuation rotation part 2132 a, and afirst actuation gear 2134 a. The second actuation manipulation part 213b includes a second actuation rotation shaft 2131 b, a second actuationrotation part 2132 b, and a second actuation gear 2134 b. Here, thefirst and second actuation rotation parts 2132 a and 2132 b may functionas a second handle.

Here, the actuation rotation shafts 2131 a and 2131 b may make apredetermined angle with an XY plane in which the connecting part 240 islocated. For example, the actuation rotation shafts 2131 a and 2131 bmay be parallel with the Z axis. In this state, if the pitchmanipulation part 211 or the yaw manipulation part 212 is rotated, thecoordinate system of the actuation manipulation part 213 may berelatively varied. However, the idea of the present invention is notlimited thereto, and the actuation rotation shafts 2131 a and 2131 b maybe oriented in various directions according to ergonomic designs for thehand structure of a user holding the actuation manipulation part 213.

In addition, the first actuation rotation part 2132 a and the firstactuation gear 2134 a may be fixedly coupled to each other so as to berotated together around the first actuation rotation shaft 2131 a.

Similarly, the second actuation rotation part 2132 b and the secondactuation gear 2134 b may be fixedly coupled to each other so as to berotated together around the second actuation rotation shaft 2131 b.

Here, the first actuation gear 2134 a and the second actuation gear 2134b may be engaged with each other, and thus if one of the first andsecond actuation gears 2134 a and 2134 b is rotated, the first andsecond actuation gears 2134 a and 2134 b may be rotated together inopposite directions.

The yaw manipulation part 212 may include a yaw rotation shaft 2121, afirst jaw yaw pulley 212P1, a second jaw yaw pulley 212P2, and a yawframe 2123. Here, in the drawings, it is illustrated that the yawmanipulation part 212 includes two pulleys: the first jaw yaw pulley212P1 and the second jaw yaw pulley 212P2. However, the idea of thepresent invention is not limited thereto. That is, according to theconfiguration of the yaw manipulation part 212, the yaw manipulationpart 212 may include one or more pulleys having the same diameter ordifferent diameters.

Specifically, the yaw rotation shaft 2121 is provided on a side of theactuation manipulation part 213 above the first handle 214. In thiscase, the first handle 214 is rotatable around the yaw rotation shaft2121.

Here, the yaw rotation shaft 2121 may make a predetermined angle withthe XY plane in which the connecting part 240 is provided. For example,the yaw rotation shaft 2121 may be oriented in a direction parallel tothe Z axis, and in this state, if the pitch manipulation part 211 isrotated, the coordinate system of the yaw rotation shaft 2121 may berelatively varied as described above. However, the idea of the presentinvention is not limited thereto, and the yaw rotation shaft 2121 may beoriented in various directions according to ergonomic designs for thehand structure of a user holding the manipulation part 210.

In addition, the first jaw yaw pulley 212P1 and the second jaw yawpulley 212P2 are coupled to the yaw rotation shaft 2121 such that thefirst jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2 may berotated on the yaw rotation shaft 2121. In addition, a first jaw wire230J1 may be wound around the first jaw yaw pulley 212P1, and a secondjaw wire 230J2 may be wound around the second jaw yaw pulley 212P2.

The yaw frame 2123 connects the first handle 214, the yaw rotation shaft2121, the first actuation rotation shaft 2131 a, and the secondactuation rotation shaft 2131 b such that the first handle 214, the yawmanipulation part 212, and the actuation manipulation part 213 may berotated together around the yaw rotation shaft 2121.

In addition, the yaw manipulation part 212 may further include a firstyaw gear 2124 a and a second yaw gear 2124 b that are independentlyrotatable around the yaw rotation shaft 2121. In this case, the firstyaw gear 2124 a may be fixedly coupled to the first jaw yaw pulley 212P1and rotatable together with the first jaw yaw pulley 212P1, and thesecond yaw gear 2124 b may be fixedly coupled to the second jaw yawpulley 212P2 and rotatable together with the second jaw yaw pulley212P2.

Here, the first actuation gear 2134 a and the second actuation gear 2134b are engaged with each other, and thus if one of the first and secondactuation gears 2134 a and 2134 b is rotated, the first and secondactuation gears 2134 a and 2134 b are rotated together in oppositedirections. In addition, the first actuation gear 2134 a and the firstyaw gear 2124 a are engaged with each other, and thus if one of thefirst actuation gear 2134 a and the first yaw gear 2124 a is rotated,the first actuation gear 2134 a and the first yaw gear 2124 a arerotated together in opposite directions. In addition, the firstactuation gear 2134 a and the second yaw gear 2124 b are engaged witheach other, and thus if one of the first actuation gear 2134 a and thesecond yaw gear 2124 b is rotated, the first actuation gear 2134 a andthe second yaw gear 2124 b are rotated together in opposite directions.

In the example described with reference to FIG. 21A illustratingactuation and yaw motions of the first jaw 121, a handle of themanipulation part 110 is located in an upper region in the drawing.However, in the manipulation part 210 of the instrument 200 for surgeryof the second embodiment of the present invention, the first actuationmanipulation part 213 a located in a lower region in FIG. 31 functionsas a handle for operating a first jaw 221 by moving the first jaw wire230J1. Since the first yaw gear 2124 a and the first actuation gear 2134a are engaged with each other, the first actuation rotation part 2132 ahas to be rotated clockwise in FIG. 31 for an actuation motion. However,in the case shown in FIG. 21A, the upper handle is rotatedcounterclockwise. These two operations are both for closing two jaws 221and 222 of the end tool 220 and may be considered to be the sameoperation, and the configuration of other substantive pulleys and wiresis not changed. Thus, the instrument 200 for surgery of the secondembodiment of the present invention may be considered to besubstantially the same as the example shown in FIG. 21A.

The pitch manipulation part 211 may include a pitch rotation shaft 2111,a pitch pulley 211P, a pitch auxiliary pulley 211S, and a pitch frame2113. The pitch manipulation part 211 is connected to a bent part 241 ofa connecting part 240 through the pitch rotation shaft 2111.

In detail, the pitch frame 2113 serves as a base frame of the pitchmanipulation part 211, and the yaw rotation shaft 2121 is rotatablycoupled to an end portion of the pitch frame 1113. That is, the yawframe 2123 is rotatable around the yaw rotation shaft 2121 with respectto the pitch frame 2113.

As described above, the yaw frame 2123 connects the first handle 214,the yaw rotation shaft 2121, the first actuation rotation shaft 2131 a,and the second actuation rotation shaft 2131 b to each other, and isalso connected to the pitch frame 2113. Therefore, if the pitch frame2113 is rotated around the pitch rotation shaft 2111, the yaw frame2131, the first handle 214, the yaw rotation shaft 2121, the firstactuation rotation shaft 2131 a, and the second actuation rotation shaft2131 b connected to the pitch frame 2113 are rotated together. That is,if the pitch manipulation part 211 is rotated around the pitch rotationshaft 2111, the actuation manipulation part 213 and the yaw manipulationpart 212 are rotated together with the pitch manipulation part 211. Inother words, if a user rotates the first handle 214 around the pitchrotation shaft 2111, the actuation manipulation part 213, the yawmanipulation part 212, and the pitch manipulation part 211 are movedtogether.

The pitch rotation shaft 2111 and the pitch pulley 211P are coupled tothe pitch frame 2113. In this case, the pitch pulley 211P is coupled tothe pitch rotation shaft 2111 in such a manner that the pitch pulley211P is rotatable around the pitch rotation shaft 2111. The pitchauxiliary pulley 211S is placed at a side of the pitch pulley 211P.

The first handle 214, the pitch manipulation part 211, the yawmanipulation part 212, and the actuation manipulation part 213 areconnected as follows. The actuation rotation shafts 2131 a and 2131 b,the yaw rotation shaft 2121, and the pitch rotation shaft 2111 may beprovided on the first handle 214. In this case, since the actuationrotation shafts 2131 a and 2131 b are directly provided on the firsthandle 214, the first handle 214 and the actuation manipulation part 213may be directly connected to each other. In addition, since the yawrotation shaft 2121 is directly provided on the first handle 214, thefirst handle 214 and the yaw manipulation part 212 may be directlyconnected to each other. However, since the pitch manipulation part 211is provided at a side of the yaw manipulation part 212 and connected tothe yaw manipulation part 212, the pitch manipulation part 211 may notbe directly connected to the first handle 214 but may be indirectlyconnected to the first handle 214 through the yaw manipulation part 212.

Hereinafter, elements for transmitting the operation of the manipulationpart 210 to the end tool 220 will be described in more detail.

The first jaw wire 230J1 for controlling the operation of the first jaw221 of the end tool 220 is fixedly coupled to a point on the first jawyaw pulley 212P1 of the manipulation part 210 and is wound around thefirst jaw yaw pulley 212P1. Similarly, the second jaw wire 230J2 forcontrolling the operation of a second jaw 222 of the end tool 220 isfixedly coupled to a point on the second jaw yaw pulley 212P2 of themanipulation part 210 and is wound around the second jaw yaw pulley212P2.

As described with reference to FIG. 21, yaw and actuation motions of theend tool 220 are controlled by rotating the first jaw yaw pulley 212P1and the second jaw yaw pulley 212P2. That is, the first jaw yaw pulley212P1 and the second jaw yaw pulley 212P2 are rotated in the samedirection so as to rotate the first jaw 221 and the second jaw 222 inthe same direction for yaw motion and rotate the first jaw 221 and thesecond jaw 222 in different directions for actuation motion.

To this end, a structure is required to rotate the first jaw yaw pulley212P1 and the second jaw yaw pulley 212P2 in the same direction ordifferent directions according to a user's yaw manipulation or actuationmanipulation.

To this end, the first jaw yaw pulley 212P1 and the second jaw yawpulley 212P2 are configured to be rotated around the same yaw rotationshaft 2121, and the first jaw yaw pulley 212P1 and the second jaw yawpulley 212P2 are connected to each other through at least one gear.

In detail, the first yaw gear 2124 a which is fixedly coupled to thefirst jaw yaw pulley 212P1 and rotatable together with the first jaw yawpulley 212P1 around the yaw rotation shaft 2121 is engaged with thefirst actuation gear 2134 a, and in this case, the first actuation gear2134 a may be fixedly coupled to the first actuation manipulation part213 a and rotatable together with the first actuation manipulation part213 a around the first actuation rotation shaft 2131 a. The firstactuation gear 2134 a is engaged with the second actuation gear 2134 b,and in this case, the second actuation gear 2134 b may be fixedlycoupled to the second actuation manipulation part 213 b and rotatabletogether with the second actuation manipulation part 213 b around thesecond actuation rotation shaft 2131 b. The second actuation gear 2134 bis engaged with the second yaw gear 2124 b, and in this case, the secondyaw gear 2124 b may be fixedly coupled to the second jaw yaw pulley212P2 and rotatable together with the second jaw yaw pulley 212P2 aroundthe yaw rotation shaft 2121.

Owing to this configuration, if an actuation manipulation in which thefirst actuation manipulation part 213 a and the second actuationmanipulation part 213 b are rotated in opposite directions is performed,the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2 arerotated in opposite directions, and thus the first jaw 221 and thesecond jaw 222 of the end tool 220 are rotated in opposite directions.

The first handle 214 is directly coupled to the yaw frame 2123, and thefirst actuation manipulation part 213 a and the second actuationmanipulation part 213 b are also connected to the yaw frame 2123. Thatis, if the first handle 214 is yaw rotated around the yaw rotation shaft2121, the yaw frame 2123, the first actuation manipulation part 213 a,the second actuation manipulation part 213 b, the first actuation gear2134 a, and the second actuation gear 2134 b are rotated together aroundthe yaw rotation shaft 2121, and as a result, the first yaw gear 2124 a,the second yaw gear 2124 b, the first jaw yaw pulley 212P1, and thesecond jaw yaw pulley 212P2 are rotated in the same direction around theyaw rotation shaft 2121. In this manner, the first jaw 221 and thesecond jaw 222 of the end tool 220 are yaw rotated in the samedirection.

That is, owing to at least one gear, the first actuation manipulationpart 213 a and the second actuation manipulation part 213 b may berotated by the same amount in opposite directions, and along with this,the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2 maybe accordingly rotated in opposite directions. In addition, it ispossible to rotate the first jaw yaw pulley 212P1 and the second jaw yawpulley 212P2 in the same direction by yaw rotation of the manipulationpart 210.

In this manner, the first jaw yaw pulley 212P1 and the second jaw yawpulley 212P2 may be rotated by actuation manipulation and yawmanipulation. In particular, the structure for rotating the first jawyaw pulley 212P1 and the second jaw yaw pulley 212P2 in differentmanners by actuation manipulation and yaw manipulation may beimplemented by various methods such as a method of using a linkstructure as well as a method of using gears.

Actuation, yaw, and pitch motions in the present embodiment aredescribed below.

First, actuation motion is described below.

Since the first actuation gear 2134 a rotating together with the firstactuation manipulation part 213 a is engaged with the second actuationgear 2134 b rotating together with the second actuation manipulationpart 213 b, if one of the first actuation manipulation part 213 a andthe second actuation manipulation part 213 b is rotated, the other ofthe first actuation manipulation part 213 a and the second actuationmanipulation part 213 b is also rotated.

If the first actuation manipulation part 213 a and the first actuationgear 2134 a are rotated clockwise, the first yaw gear 2124 a engagedwith the first actuation gear 2134 a is rotated counterclockwise. Inaddition, if the first actuation manipulation part 213 a and the firstactuation gear 2134 a are rotated clockwise, the second actuation gear2134 b engaged with the first actuation gear 2134 a is rotatedcounterclockwise, and the second yaw gear 2124 b engaged with the secondactuation gear 2134 b is rotated clockwise.

As a result, the first jaw yaw pulley 212P1 connected to the first yawgear 2124 a, and the second jaw yaw pulley 212P2 connected to the secondyaw gear 2124 b are rotated in opposite directions. Thus, the first jaw221 connected to the first jaw yaw pulley 212P1, and the second jaw 222connected to the second jaw yaw pulley 212P2 are rotated in oppositedirections, thereby performing an actuation motion.

Next, yaw motion will be described below.

In addition, if the first handle 214 is rotated around the yaw rotationshaft 2121 in one direction, the actuation manipulation part 213provided on an end of the first handle 214 is also rotated together withthe first handle 214 around the yaw rotation shaft 2121.

At this time, since the entire actuation manipulation part 213 isrotated around the yaw rotation shaft 2121, the first actuation gear2134 a and the second actuation gear 2134 b are not rotated relative toeach other, and thus the first yaw gear 2124 a and the second yaw gear2124 b respectively engaged with the first actuation gear 2134 a and thesecond actuation gear 2134 b are also not rotated relative to eachother.

That is, the first handle 214, the actuation manipulation part 213, thefirst actuation gear 2134 a, the second actuation gear 2134 b, the firstyaw gear 2124 a, and the second yaw gear 2124 b are simultaneouslyrotated around the yaw rotation shaft 2121 as if a single rigid body isrotated. Therefore, the first jaw yaw pulley 212P1 connected to thefirst yaw gear 2124 a, and the second jaw yaw pulley 212P2 connected tothe second yaw gear 2124 b are rotated together in one direction,thereby performing an yaw motion in which the first jaw 221 and thesecond jaw 222 are rotated in the same direction.

Next, pitch motion will be described below.

If a user rotates the first handle 214 around the pitch rotation shaft2111 while holding the first handle 214, the actuation manipulation part213, the yaw manipulation part 212, and the pitch manipulation part 211are pitch rotated around the pitch rotation shaft 2111. That is, if thefirst jaw yaw pulley 212P1 of the yaw manipulation part 212 to which thefirst jaw wire 230J1 is fixedly coupled is rotated around the pitchrotation shaft 2111, the first jaw wire 230J1 wound around the pitchpulley 211P is moved. Similarly, if the second jaw yaw pulley 212P2 ofthe yaw manipulation part 212 to which the second jaw wire 230J2 isfixedly coupled is rotated around the pitch rotation shaft 2111, thesecond jaw wire 230J2 wound around the pitch pulley 211P is moved. Then,rotating force is transmitted to the end tool 220 via the powertransmission part 230, and thus the two jaws 221 and 222 of the end tool220 perform a pitch motion.

At this time, since the pitch frame 2113 is connected to the yaw frame2123 and the yaw frame 2123 connects the first handle 214, the yawrotation shaft 2121, the first actuation rotation shaft 2131 a, and thesecond actuation rotation shaft 2131 b to each other, if the pitch frame2113 is rotated around the pitch rotation shaft 2111, the yaw frame2131, the first handle 214, the yaw rotation shaft 2121, the firstactuation rotation shaft 2131 a, and the second actuation rotation shaft2131 b connected to the pitch frame 2113 are rotated together. That is,if the pitch manipulation part 211 is rotated around the pitch rotationshaft 21111, the actuation manipulation part 213 and the yawmanipulation part 212 are rotated together with the pitch manipulationpart 211.

In short, according to the instrument 200 for surgery of the embodimentof the present invention, pulleys are respectively provided on jointpoints (a actuation joint, a yaw joint, and a pitch joint), wires (thefirst jaw wire or the second jaw wire) are wound around the pulleys,such that if the manipulation part is rotated (actuation rotation, yawrotation, or pitch rotation), each wire is moved for a desired motion ofthe end tool 220. Furthermore, an auxiliary pulley may be provided at aside of each pulley, and a wire may not be wound several times aroundthe pulley owing to the auxiliary pulley.

Third Embodiment of Instrument for Surgery

Hereinafter, an instrument 300 for surgery will be described accordingto a third embodiment of the present invention. The instrument 300 forsurgery of the third embodiment of the present invention ischaracteristically different in the configuration of a manipulation part310 of the instrument 300 from the instrument 200 for surgery (refer toFIG. 32) of the second embodiment of the present invention. Thisdifferent configuration from the third embodiment will now be describedin detail.

FIG. 41 is a perspective view illustrating the instrument for surgeryaccording to the third embodiment of the present invention, FIG. 42 is aplan view illustrating the instrument for surgery of FIG. 41, and FIG.43 is a perspective view illustrating the manipulation part of theinstrument for surgery of FIG. 42.

Referring to FIGS. 41, 42, and 43, in the instrument 300 for surgery ofthe third embodiment of the present invention, an actuation manipulationpart and a yaw manipulation part that include a first yaw gear, a secondyaw gear, a first actuation gear, and a second actuation gear aremodified. However, ultimately, the instrument 300 for surgery of thethird embodiment has the same motion mechanism as that in the secondembodiment.

An actuation manipulation part 313 includes a first actuationmanipulation part 313 a and a second actuation manipulation part 313 b.The first actuation manipulation part 313 a includes a first actuationrotation part 3132 a and a first actuation gear 3134 a. The secondactuation manipulation part 313 b includes a second actuation rotationpart 3132 b and a second actuation gear 3134 b. Here, the firstactuation rotation part 3132 a and the second actuation rotation part3132 b may function as a second handle. In addition, the actuationmanipulation part 313 further includes a third actuation gear 3134 c.

In addition, the first actuation rotation part 3132 a and the firstactuation gear 3134 a may be fixedly coupled to each other and may berotated together around a yaw rotation shaft 3121. Similarly, the secondactuation rotation part 3132 b and the second actuation gear 3134 b maybe fixedly coupled to each other and may be rotated together around theyaw rotation shaft 3121.

Here, the first actuation gear 3134 a and the second actuation gear 3134b may be engaged with each other through the third actuation gear 3134c, and if one of the first and second actuation gears 3134 a and 3134 bis rotated, the first and second actuation gears 3134 a and 3134 b maybe rotated together in opposite directions.

A yaw manipulation part 312 may include a yaw rotation shaft 3121, afirst jaw yaw pulley 312P1, and a second jaw yaw pulley 312P2. Inaddition, the first jaw yaw pulley 312P1 and the second jaw yaw pulley312P2 are connected to the yaw rotation shaft 3121 such that the firstjaw yaw pulley 312P1 and the second jaw yaw pulley 312P2 may be rotatedaround the yaw rotation shaft 3121. The first jaw yaw pulley 312P1 maybe fixedly coupled to the first actuation gear 3134 a and rotatabletogether with the first actuation gear 3134 a, and the second jaw yawpulley 312P2 may be fixedly coupled to the second actuation gear 3134 band rotatable together with the second actuation gear 3134 b. Inaddition, a first jaw wire 330J1 may be wound around the first jaw yawpulley 312P1, and a second jaw wire 330J2 may be wound around the secondjaw yaw pulley 312P2. In this case, each of the first jaw yaw pulley312P1 and the second jaw yaw pulley 312P2 may include two pulleys facingeach other and independently rotatable. A rotation shaft of the thirdactuation gear 3134 c is connected to a first handle 314, and thus ifthe first handle 314 is rotated, the third actuation gear 3134 c mayalso be rotated.

Actuation and yaw motions in the present embodiment are described below.

First, actuation motion will now be described. FIGS. 46 and 47 are viewsillustrating an actuation motion of the instrument for surgery shown inFIG. 41.

Referring to FIGS. 46 and 47, Since the first actuation gear 3134 arotating together with the first actuation rotation part 3132 a isengaged with the second actuation gear 3134 b rotating together with thesecond actuation rotation part 3132 b, if one of the first actuationrotation part 3132 a and the second actuation rotation part 3132 b isrotated, the other of the first actuation rotation part 3132 a and thesecond actuation rotation part 3132 b is also rotated. If the firstactuation rotation part 3132 a and the first actuation gear 3134 a isrotated around the yaw rotation shaft 3121 In the direction of an arrowA1, the third actuation gear 3134 c engaged with the first actuationgear 3134 a is rotated on its axis, and then the second actuation gear3134 b engaged with the third actuation gear 3134 c is rotated aroundthe yaw rotation shaft 3121 in the direction of an arrow A2.

As a result, the first jaw yaw pulley 312P1 connected to the firstactuation gear 3134 a, and the second jaw yaw pulley 312P2 connected tothe second actuation gear 3134 b are rotated in opposite directions.Thus, a first jaw 321 connected to the first jaw yaw pulley 312P1, and asecond jaw 322 connected to the second jaw yaw pulley 312P2 are rotatedin opposite directions, thereby performing an actuation motion.

Next, yaw motion will now be described. FIGS. 44 and 45 are viewsillustrating a yaw motion of the instrument for surgery shown in FIG.41.

Referring to FIGS. 44 and 45, if the first handle 314 is rotated aroundthe yaw rotation shaft 3121, a third actuation gear center shaft 3134 c1 connected to the first handle 314 is rotated around the yaw rotationshaft 3121, and the third actuation gear 3134 c provided on the thirdactuation gear center shaft 3134 c 1 is revolved around the yaw rotationshaft 3121. Therefore, the first actuation gear 3134 a and the secondactuation gear 3134 b connected to the third actuation gear 3134 c aresimultaneously rotated in the direction of an arrow Y.

Then, the first jaw yaw pulley 312P1 connected to the first actuationgear 3134 a, and the second jaw yaw pulley 312P2 connected to the secondactuation gear 3134 b are rotated in the same direction. Thus, the firstjaw 321 connected to the first jaw yaw pulley 312P1, and the second jaw322 connected to the second jaw yaw pulley 312P2 are rotated in the samedirection, thereby performing a yaw motion.

The configuration and operational characteristics of other parts are thesame as those in the second embodiment, and thus descriptions thereofwill be omitted.

Fourth Embodiment of Instrument for Surgery

Hereinafter, an instrument 400 for surgery will be described accordingto a fourth embodiment of the present invention. The instrument 400 forsurgery of the fourth embodiment of the present invention ischaracteristically different in the configuration of a manipulation part410 of the instrument 400 from the instrument 300 for surgery (refer toFIG. 41) of the third embodiment of the present invention. Thisdifferent configuration from the third embodiment will now be describedin detail.

FIG. 48 is a perspective view illustrating a yaw motion of theinstrument for surgery according to the fourth embodiment of the presentinvention, FIG. 49 is a view illustrating an actuation motion of theinstrument for surgery according to the fourth embodiment of the presentinvention.

The instrument 400 for surgery of the fourth embodiment of the presentinvention is different from the third embodiment in that a yawmanipulation part 412 and an actuation manipulation part 413 including afirst actuation gear 4124 a, a second actuation gear 4124 b, and a thirdactuation gear 4134 are modified. In the third embodiment, the firstactuation rotation part 3132 a is fixedly coupled to the actuation gear3134 a, and the second actuation rotation part 3132 b is fixedly coupledto the second actuation gear 3134 b. However, in the fourth embodiment,a first actuation rotation part 4132 is fixedly coupled to the thirdactuation gear 4134. In addition, in the fourth embodiment, actuationmanipulation is performed by rotating only the first actuation rotationpart 4132. For ease of description, the first actuation gear, the secondactuation gear, the third actuation gear, and the first actuationrotation part of the third embodiment are referred to as a first yawgear, a second yaw gear, an actuation gear, and an actuation rotationpart in the fourth embodiment.

Actuation and yaw motions in the present embodiment are described below.

First, actuation motion will now be described. FIG. 49 is a viewillustrating an actuation motion of the instrument for surgery shown inFIG. 48.

If the actuation rotation part 4132 and the actuation gear 4134connected thereto are rotated in the direction of an arrow A in FIG. 49,the first yaw gear 4124 a and the second yaw gear 4124 b engaged withthe actuation gear 4134 are rotated around a yaw rotation shaft 4121 inopposite directions.

As a result, a first jaw yaw pulley 412P1 fixedly coupled to the firstyaw gear 4124 a, and a second jaw yaw pulley 412P2 fixedly coupled tothe second yaw gear 4124 b are rotated in opposite directions. Thus, afirst jaw 421 connected to the first jaw yaw pulley 412P1, and a secondjaw 422 connected to the second jaw yaw pulley 412P2 are rotated inopposite directions, thereby performing an actuation motion.

Next, yaw motion will now be described.

If a first handle 414 is rotated around the yaw rotation shaft 4121, anactuation gear center shaft 4134A connected to the first handle 414 isrotated around the yaw rotation shaft 4121, and the actuation gear 4134provided on the actuation gear center shaft 4134A is revolved around theyaw rotation shaft 4121. Therefore, the first yaw gear 4124 a and thesecond yaw gear 4134 b connected to the actuation gear 4134 aresimultaneously rotated in the direction of an arrow Y.

Then, the first jaw yaw pulley 412P1 fixedly coupled to the first yawgear 4124 a, and the second jaw yaw pulley 412P2 fixedly coupled to thesecond yaw gear 4124 b are rotated in the same direction. Thus, thefirst jaw 421 connected to the first jaw yaw pulley 412P1, and thesecond jaw 422 connected to the second jaw yaw pulley 412P2 are rotatedin the same direction, thereby performing a yaw motion.

The configuration and operational characteristics of other parts are thesame as those in the third embodiment, and thus descriptions thereofwill be omitted.

Fifth Embodiment of Instrument for Surgery

Hereinafter, an instrument 500 for surgery will be described accordingto a fifth embodiment of the present invention. The instrument 500 forsurgery of the third embodiment of the present invention ischaracteristically different in the configuration of a manipulation part510 of the instrument 500 from the instrument 200 for surgery (refer toFIG. 32) of the second embodiment of the present invention. Thisdifferent configuration from the fifth embodiment will now be describedin detail.

In the instrument for surgery 500 of the fifth embodiment of the presentinvention, the modification shown in FIG. 24 is specifically embodied.That is, the first jaw yaw auxiliary pulley 112S1 of FIG. 24Acorresponds to a first jaw yaw auxiliary pulley 512S1 of FIG. 53, thefirst jaw yaw pulley 112P1 of FIG. 24A corresponds to a first jaw yawpulley 512P1 of FIG. 53, and the first actuation pulley 113P1 of FIG.24A corresponds to a first actuation pulley (not shown) of FIG. 53.

FIG. 50 is a perspective view illustrating the instrument for surgeryaccording to the fifth embodiment of the present invention, FIG. 51 is aplan view illustrating the instrument for surgery of FIG. 50, and FIG.52 is a perspective view illustrating the manipulation part of theinstrument for surgery of FIG. 51.

An actuation manipulation part 513 includes an actuation rotation shaft5131, a first actuation manipulation part 513 a, and a second actuationmanipulation part 513 b. The first actuation manipulation part 513 aincludes a first actuation rotation shaft 5131 a, a first actuationrotation part 5132 a, and a first actuation gear 5134 a. The secondactuation manipulation part 513 b includes a second actuation rotationshaft 5131 b, a second actuation rotation part 5132 b, and a secondactuation gear 5134 b. Here, the first and second actuation rotationparts 5132 a and 5132 b may function as a second handle.

In this case, the first actuation rotation part 5132 a and the firstactuation gear 5134 a may be fixedly coupled to each other so as to berotated together around the first actuation rotation shaft 5131 a.Similarly, the second actuation rotation part 5132 b and the secondactuation gear 5134 b may be fixedly coupled to each other so as to berotated together around the second actuation rotation shaft 5131 b.

In addition, the first actuation gear 5134 a and the second actuationgear 5134 b may be engaged with each other, and thus if one of the firstand second actuation gears 5134 a and 5134 b is rotated, the first andsecond actuation gears 5134 a and 5134 b may be rotated together inopposite directions.

A third actuation gear 5134 c and a fourth actuation gear 5134 d areprovided on the actuation rotation shaft 5131, and the third actuationgear 5134 c and the fourth actuation gear 5134 d are independentlyrotatable around the actuation rotation shaft 5131.

In addition, a third actuation pulley (not shown) may be provided on aside of the third actuation gear 5134 c, the third actuation pulleybeing fixedly coupled to the third actuation gear 5134 c and rotatabletogether with the third actuation gear 5134 c. A fourth actuation pulley5133 d may be provided on a side of the fourth actuation gear 5134 d,the fourth actuation pulley 5133 d being fixedly coupled to the fourthactuation gear 5134 d and rotatable together with the fourth actuationgear 5134 d.

The first actuation gear 5134 a and the third actuation gear 5134 c areengaged with each other, and thus if one of the first actuation gear5134 a and the third actuation gear 5134 c is rotated, the first andthird actuation gears 5134 a and 5134 c are rotated together in oppositedirections. In addition, the second actuation gear 5134 b and the fourthactuation gear 5134 d are engaged with each other, and thus if one ofthe second actuation gear 5134 b and the fourth actuation gear 5134 d isrotated, the second actuation gear 5134 b and the fourth actuation gear5134 d are rotated together in opposite directions.

In addition, the first jaw yaw pulley 512P1 is provided on a side of thethird actuation gear 5134 c and the third actuation pulley (not shown),and the third actuation pulley (not shown) and the first jaw yaw pulley512P1 are connected through a first jaw wire 530J1, such that if thethird actuation gear 5134 c is rotated, the first jaw yaw pulley 512P1may also be rotated. At this time, the first jaw wire 530J1 may be woundand fixedly coupled to a point of the third actuation pulley (not shown)and wound around the first jaw yaw pulley 512P1 in a crossed manner,such that the first jaw yaw pulley 512P1 may be rotated in a directionopposite the direction in which the third actuation pulley (not shown)is rotated.

In addition, a second jaw yaw pulley 512P2 is provided on a side of thefourth actuation gear 5134 d and the fourth actuation pulley 5133 d, andthe fourth actuation pulley 5133 d and the second jaw yaw pulley 512P2are connected through a second jaw wire 530J2, such that if the fourthactuation gear 5134 d is rotated, the second jaw yaw pulley 512P2 mayalso be rotated. At this time, the second jaw wire 530J2 may be woundand fixedly coupled to a point of the fourth actuation pulley 5133 d andwound around the second jaw yaw pulley 512P2 in a crossed manner, suchthat the second jaw yaw pulley 512P2 may be rotated in a directionopposite the direction in which the fourth actuation pulley 5133 d isrotated.

In this case, the first jaw yaw pulley 512P1 and the second jaw yawpulley 512P2 are independently rotatable around a yaw rotation shaft5121.

A yaw manipulation part 512 may include the yaw rotation shaft 5121, thefirst jaw yaw pulley 512P1, and the second jaw yaw pulley 512P2. A pitchmanipulation part 511 may include a pitch rotation shaft 5111, a pitchpulley 511P, a pitch auxiliary pulley 211S, and a pitch frame 5113. Thepitch manipulation part 511 is connected to a bent part 541 of aconnecting part 540 through the pitch rotation shaft 5111.

Actuation, yaw, and pitch motions in the present embodiment aredescribed below.

First, actuation motion is described below.

Referring to FIGS. 50 to 55, Since the first actuation gear 5134 arotating together with the first actuation manipulation part 513 a isengaged with the second actuation gear 5134 b rotating together with thesecond actuation manipulation part 513 b, if one of the first actuationmanipulation part 513 a and the second actuation manipulation part 513 bis rotated, the other of the first actuation manipulation part 513 a andthe second actuation manipulation part 513 b is also rotated.

If the first actuation manipulation part 513 a and the first actuationgear 5134 a are rotated around the first actuation rotation shaft 5131 ain the direction of an arrow A1, the third actuation gear 5134 c engagedwith the first actuation gear 5134 a is rotated in a direction oppositeto the direction A1.

Likewise, the second actuation gear 5134 b engaged with the firstactuation gear 5134 a is rotated in the direction of an arrow A2, andthe fourth actuation gear 5134 d engaged with the second actuation gear5134 b is rotated in a direction opposite the direction A2.

As a result, the third actuation pulley (not shown) fixedly coupled tothe third actuation gear 5134 c, and the fourth actuation pulley 5133 dfixedly coupled to the fourth actuation gear 5134 d are rotated inopposite directions. Thus, a first jaw 521 connected to the thirdactuation gear (not shown), and a second jaw 522 connected to the fourthactuation pulley 5133 d are rotated in opposite directions, therebyperforming an actuation motion.

Here, the present embodiment is characterized in that the yaw rotationshaft 5121 and the actuation rotation shaft 5131 are separatelyprovided. In addition, the first jaw yaw pulley 512P1 and the second jawyaw pulley 512P2 are independently rotatable around the yaw rotationshaft 5121.

That is, in the second embodiment, all of the first yaw gear 2124 a, thesecond yaw gear 2124 b, the first jaw yaw pulley 212P1, and the secondjaw yaw pulley 212P2 are provided on the yaw rotation shaft 2121.However, in the present embodiment, the third actuation gear 5134 c andthe fourth actuation gear 5134 d are provided on the actuation rotationshaft 5131, and the first jaw yaw pulley 512P1 and the second jaw pulley512P2 are provided on the yaw rotation shaft 5121.

Therefore, the same operational characteristics as in the secondembodiment may be obtained in the present embodiment as follows: thefirst jaw wire 530J1 is crossed once between the third actuation pulley(not shown) and the first jaw yaw pulley 512P1, and the second jaw wire530J2 is crossed once between the fourth actuation pulley 5133 d and thesecond jaw yaw pulley 512P2. As described above, when each of the firstjaw wire 530J1 and the second jaw wire 530J2 is crossed once, theoperation of the manipulation part 510 and the operation of an end tool520 are intuitively identical to each other.

Next, yaw motion will now be described. FIGS. 54 and 55 are viewsillustrating a yaw motion of the instrument for surgery shown in FIG.50.

Referring to FIGS. 50 to 55, if a first handle 514 is rotated in onedirection around the yaw rotation shaft 5121, the actuation manipulationpart 513 provided on an end of the first handle 514 is also rotatedtogether with the first handle 514 around the yaw rotation shaft 5121.At this time, since the entire actuation manipulation part 513 isrotated around the yaw rotation shaft 5121, the first actuation gear5134 a and the second actuation gear 5134 b are not rotated relative toeach other, and thus the third actuation gear 5134 c and the fourthactuation gear 5134 d respectively engaged with the first actuation gear5134 a and the second actuation gear 5134 b are also not rotatedrelative to each other.

That is, the first handle 514, the actuation manipulation part 513, thefirst actuation gear 5134 a, the second actuation gear 5134 b, the thirdactuation gear 5134 c, the fourth actuation gear 5134 d, the first jawyaw pulley 512P1, and the second jaw yaw pulley 512P2 are simultaneouslyrotated around the yaw rotation shaft 5121 as if a single rigid body isrotated. Then, since the first jaw yaw pulley 512P1 and the second jawyaw pulley 512P2 are rotated together in one direction as describedabove, the first jaw 521 and the second jaw 522 are rotated in the samedirection, thereby performing a yaw motion.

The configuration and operational characteristics of other parts are thesame as those in the second embodiment, and thus descriptions thereofwill be omitted.

Sixth Embodiment of Instrument for Surgery

Hereinafter, an instrument 600 for surgery will be described accordingto a sixth embodiment of the present invention. The instrument 600 forsurgery of the tenth embodiment of the present invention ischaracteristically different in the configuration of a manipulation part610 of the instrument 600 from the instrument 100 for surgery (refer toFIG. 2) of the first embodiment of the present invention. Thisdifference in the configuration from the first embodiment will bedescribed later in detail.

FIG. 56 is a perspective view illustrating the instrument for surgeryaccording to the sixth embodiment of the present invention, FIG. 57 isan inside perspective view illustrating the instrument for surgery ofFIG. 56, and FIG. 58 is an inside perspective view illustrating a wiringstructure of the instrument for surgery of FIG. 56. FIG. 59 is aperspective view illustrating a yaw motion of the instrument for surgeryof FIG. 56, and FIG. 60 is a perspective view illustrating a pitchmotion of the instrument for surgery of FIG. 56.

Referring to FIGS. 56 to 60, the instrument 600 for surgery according tothe sixth embodiment of the present invention includes the manipulationpart 610, an end tool 620, a power transmission part 630, and aconnecting part 640. Herein, the connecting part 640 may have a hollowshaft shape accommodating at least one wire (described later). Themanipulation part 610 may be coupled to one end portion of theconnecting part 640, and the end tool 620 may be coupled to the otherend portion of the connecting part 640 such that the manipulation part610 and the end tool 620 may be connected through the connecting part640. The connecting part 640 may include a bent part 641 at a side ofthe manipulation part 610.

According to the sixth embodiment of the present invention, themanipulation part 610 of the instrument 600 for surgery includes a pitchmanipulation part 611 configured to control pitch motion of the end tool620, a yaw manipulation part 612 configured to control yaw motion of theend tool 620, an actuation manipulation part (actuation operator) 613configured to control actuation motion of the end tool 620, and a firsthandle 614 that a user may hold.

First, an example operation of the instrument 600 for surgery shown inFIG. 56 will be described. In a state in which a user holds the firsthandle 614 with his/her palm, the user may perform a pitch motion byrotating the first handle 614 around an Y axis (that is, around a pitchrotation shaft 6111) and a yaw motion by rotating the first handle 614around a Z axis (that is, around a yaw rotation shaft 6121), and in astate in which the user inserts his/her thumb and index finger into theactuation manipulation part 613, the user may perform an actuationmotion by rotating the actuation manipulation part 613.

Here, the instrument 600 for surgery according to the sixth embodimentof the present invention is configured such that the yaw manipulationpart 612 is significantly spaced apart from the first handle 614compared with the first embodiment. That is, although the actuationmanipulation part 613 and the pitch manipulation part 611 are providedabove the handle 614 and relatively close to the first handle 614, theyaw manipulation part 612 is connected to the pitch rotation shaft 6111of the pitch manipulation part 611 through an I-shaped yaw frame 6123,and the yaw manipulation part 612 and the bent part 641 are connected toeach other through the yaw rotation shaft 6121 provided on a side of thebent part 641. Therefore, the yaw manipulation part 612 is spaced apartfrom the first handle 614 in a Z-axis direction by the length of the yawframe 6123. In other words, the yaw rotation shaft 6121 is providedabove the actuation manipulation part 613 in the Z-axis directioninstead of being provided on a side of the actuation manipulation part613, and a plurality of pulleys are arranged between the yaw rotationshaft 6121 and the actuation manipulation part 613, such that if a userrotates the first handle 614 in yaw motion, the first handle 614, all ofthe actuation manipulation part 613, and the pitch manipulation part 611may be rotated around the yaw rotation shaft 6121.

In the first embodiment, the joint structure of the manipulation partfor operating the end tool includes a pitch joint and a yaw joint thatare sequentially connected to each other. That is, wires fortransmitting power to the end tool are first connected to a pitch jointpart of the manipulation part via the bent part of the connecting partand is then connected to a yaw joint part.

However, the order of joints of the manipulation part in the sixthembodiment is different from that in the first embodiment, that is, ayaw joint and a pitch joint are sequentially connected. That is, if thedifference is viewed from connection with the end tool, the yawmanipulation part is first provided, and then the pitch manipulationpart and the actuation manipulation part are provided on the yawmanipulation part.

However, like the first embodiment, the sixth embodiment has the featurethat the end tool is rotated intuitively in the same direction as thedirection in which the manipulation part is manipulated. That is, asdescribed with reference to FIG. 1, when a user moves a handle foractuation rotation, pitch rotation, or yaw rotation, the rotation axisof a manipulation part for the rotation is located at a rear side (aside of the user) like the end tool. In detail, the first handle 614 maybe configured such that a user may grip the first handle 614 withhis/her hand. In particular, a user may grip the first handle 614 byholding around the first handle 614 with his/her palm. In addition, theactuation manipulation part 613 is provided on the first handle 614, andthe pitch manipulation part 611 is provided on a side of the actuationmanipulation part 613. In addition, the pitch manipulation part 611 isconnected to the yaw manipulation part 612 through the yaw frame 6123,and the yaw frame 6123 has a side connected to the pitch rotation shaft6111 and another side connected to the yaw rotation shaft 6121.

The actuation manipulation part 613 includes a first actuationmanipulation part 613 a and a second actuation manipulation part 613 b.The first actuation manipulation part 613 a includes a first actuationrotation shaft 6131 a, a first actuation rotation part 6132 a, a firstactuation pulley 613P1, and a first actuation gear 6134 a. The secondactuation manipulation part 613 b includes a second actuation rotationshaft 6131 b, a second actuation rotation part 6132 b, a secondactuation pulley 613P2, and a second actuation gear 6134 b. Here, thefirst actuation rotation part 6132 a and the second actuation rotationpart 6132 b may function as a second handle.

In addition, the first actuation rotation part 6132 a, the firstactuation pulley 613P1, and the first actuation gear 6134 a may befixedly coupled to each other so as to be rotated together around thefirst actuation rotation shaft 6131 a.

Similarly, the second actuation rotation part 6132 b, the secondactuation pulley 613P2, and the second actuation gear 6134 b may befixedly coupled to each other so as to be rotated together around thesecond actuation rotation shaft 6131 b.

Here, the first actuation gear 6134 a and the second actuation gear 6134b may be engaged with each other, and thus if one of the first andsecond actuation gears 6134 a and 6134 b is rotated, the first andsecond actuation gears 6134 a and 6134 b may be rotated together inopposite directions.

The pitch manipulation part 611 may include a pitch rotation shaft 6111,a plurality of pitch pulleys 611P, a plurality of pitch auxiliarypulleys 611S, and a pitch frame 6113. In addition, the pitchmanipulation part 611 may further include a plurality of pitch-wirepitch pulleys 611PP, a pitch-wire pitch auxiliary pulley 611PS, and apitch-wire pitch return pulley 611PR.

The pitch rotation shaft 6111 and the pitch pulleys 611P are coupled tothe pitch frame 6113. In this case, the pitch pulleys 611P are connectedto the pitch rotation shaft 6111 in such a manner that the pitch pulleys611P are rotatable around the pitch rotation shaft 6111.

The pitch frame 6113 is a base frame of the pitch manipulation part 611and connects the pitch rotation shaft 6111, the first actuation rotationshaft 6131 a, and the second actuation rotation shaft 6131 b, therebyenabling the first handle 614, the actuation manipulation part 613, andthe pitch manipulation part 611 to rotate together around the pitchrotation shaft 6111. That is, if the first handle 614 is rotated aroundthe pitch rotation shaft 6111, the first actuation rotation shaft 6131 aand the second actuation rotation shaft 6131 b connected to the firsthandle 614 are rotated together. In other words, if a user rotates thefirst handle 614 around the pitch rotation shaft 6111, the actuationmanipulation part 613 is moved together with the first handle 614.

The yaw manipulation part 612 may include the yaw rotation shaft 6121, afirst jaw yaw pulley 612P1, a second jaw yaw pulley 612P2, and the yawframe 6123. In addition, the yaw manipulation part 612 may furtherinclude a first jaw yaw auxiliary pulley 612S1 provided on a side of thefirst jaw yaw pulley 612P1, and a second jaw yaw auxiliary pulley 612S2provided on a side of the second jaw yaw pulley 612P2.

Specifically, the yaw frame 6123 serves as a base frame of the yawmanipulation part 612 and may be formed as an I-shaped frame. A side ofthe yaw frame 6123 is connected to the pitch rotation shaft 6111, andanother side of the yaw frame 6123 is connected to the yaw rotationshaft 6121. In addition, the yaw frame 6123 and the bent part 641 of theextension part 640 are rotatable relative to each other around the yawrotation shaft 6121.

In addition, a first pitch wire yaw pulley 612PP1, a first pitch wireyaw auxiliary pulley 612PS1, a second pitch wire yaw pulley 612PP2, anda second pitch wire yaw auxiliary pulley 612PS2 may be respectivelyarranged at sides of the first jaw yaw pulley 612P1, the first jaw yawauxiliary pulley 612S1, the second jaw yaw pulley 612P2, and the secondjaw yaw auxiliary pulley 612S2 so as to wind a pitch wire 630Ptherearound.

Here, in the drawings, each of the first jaw yaw pulley 612P1, thesecond jaw yaw pulley 612P2, the first jaw yaw auxiliary pulley 612S1,the second jaw yaw auxiliary pulley 612S2, the first pitch wire yawpulley 612PP1, the first pitch wire yaw auxiliary pulley 612PS1, thesecond pitch wire yaw pulley 612PP2, and the second pitch wire yawauxiliary pulley 612PS2 of the yaw manipulation part 612 is illustratedas having two pulleys. However, the idea of the present invention is notlimited thereto. That is, according to the configuration of the yawmanipulation part 612, the yaw manipulation part 612 may include one ormore pulleys having the same diameter or different diameters.

In detail, the yaw rotation shaft 6121 is inserted through the bent part641, the yaw frame 6123, the first jaw yaw pulley 612P1, and the secondjaw yaw pulley 612P2. Therefore, the yaw frame 6123 is rotatable aroundthe yaw rotation shaft 6121 with respect to the bent part 641. The pitchframe 6113 is coupled to the actuation manipulation part 613, and theactuation manipulation part 613 is coupled to the first handle 614.Therefore, as a result, if the first handle 614 is rotated around theyaw rotation shaft 6121, the first handle 614, the actuationmanipulation part 613, the pitch frame 6113, and the yaw frame 6123 arerotated with respect to the bent part 641.

Owing to this structure, as shown in FIG. 57, the manipulation part isconfigured such that a rotation shaft of the yaw joint and a rotationshaft of the pitch joint may be placed close to each other, for example,to cross each other. As a result, users may perform more natural,intuitive manipulation.

In addition, the first jaw yaw pulley 612P1 and the second jaw yawpulley 612P2 are connected to the yaw rotation shaft 6121 and rotatablearound the yaw rotation shaft 6121. In addition, a first jaw wire 630J1may be wound around the first jaw yaw pulley 612P1, and a second jawwire 630J2 may be wound around the second jaw yaw pulley 612P2. In thiscase, each of the first jaw yaw pulley 612P1 and the second jaw yawpulley 612P2 may include two pulleys facing each other and independentlyrotatable. Therefore, an inward wire and an outward wire may berespectively wound around separate pulleys and thus may not interferewith each other.

Similarly, each of the first jaw yaw auxiliary pulley 612S1 and thesecond jaw yaw auxiliary pulley 612S2 may include two pulleys facingeach other and independently rotatable. Therefore, an inward wire and anoutward wire may be respectively wound around separate pulleys and thusmay not interfere with each other.

The first handle 614, the pitch manipulation part 611, the yawmanipulation part 612, and the actuation manipulation part 613 areconnected as follows. The actuation rotation shafts 6131 a and 6131 b,the yaw rotation shaft 6121, and the pitch rotation shaft 6111 may beprovided on the first handle 614. In this case, since the actuationrotation shafts 6131 a and 6131 b are directly provided on the firsthandle 614, the first handle 614 and the actuation manipulation part 613may be directly connected to each other. In addition, since the pitchrotation shaft 6111 is directly provided on the first handle 614, thefirst handle 614 and the pitch manipulation part 611 may be directlyconnected to each other. However, since the yaw manipulation part 612 isconnected to the pitch manipulation part 611 through the yaw frame 6123,the yaw manipulation part 612 may not be directly connected to the firsthandle 614 but may be indirectly connected to the first handle 614through the pitch manipulation part 611.

Actuation, yaw, and pitch motions in the present embodiment aredescribed below.

First, actuation motion is described below.

In a state in which a user inserts his/her index finger in the firstactuation rotation part 6132 a and his/her thumb in the second actuationrotation part 6132 b, if the user rotates the actuation rotation parts6132 a and 6132 b using one or both of his/her index finger and thumb,the first actuation pulley 613P1 and the first actuation gear 6134 afixedly coupled to the first actuation rotation part 6132 a are rotatedaround the first actuation rotation shaft 6131 a, and the secondactuation pulley 6133 b and the second actuation gear 6134 b fixedlycoupled to the second actuation rotation part 6132 b are rotated aroundthe second actuation rotation shaft 6131 b. At this time, the firstactuation pulley 613P1 and the second actuation pulley 613P2 are rotatedin opposite directions, and thus the first jaw wire 630J1 fixedlycoupled to the first actuation pulley 613P1 at an end portion thereofand the second jaw wire 630J2 fixedly coupled to the second actuationpulley 613P2 at an end portion thereof are also moved in oppositedirections. Then, rotating force is transmitted to the end tool 620through the power transmission part 630, and two jaws 621 and 622 of theend tool 620 perform an actuation motion.

Next, pitch motion will be described below.

Referring to FIGS. 57 and 60, if a user rotates the first handle 614around the pitch rotation shaft 6111 while holding the first handle 614,the actuation manipulation part 613 is pitch rotated around the pitchrotation shaft 6111. That is, if the first actuation pulley 613P1 of thefirst actuation manipulation part 613 a to which the first jaw wire630J1 is fixedly coupled is rotated around the pitch rotation shaft6111, both strands 630J1R and 630J1L of the first jaw wire 630J1 woundaround the pitch pulleys 611P are moved in the same direction.Similarly, if the second actuation pulley 613P2 of the second actuationmanipulation part 613 b to which the second jaw wire 630J1 is fixedlycoupled is rotated around the pitch rotation shaft 6111, both strands630J2R and 630J2L of the second jaw wire 630J2 wound around the pitchpulleys 611P are moved in the same direction. Then, rotating force istransmitted to the end tool 620 via the power transmission part 630, andthus the two jaws 620 and 621 of the end tool 622 perform a pitchmotion.

In addition, as shown in FIG. 58, a pitch pulley 623P and the pitch wire630P may be provided on the end tool 620, and thus pitch motion of theend tool 620 may be more easily performed as the manipulation part 610is pitch manipulated.

Both strands 630PL and 630PR of the pitch wire 630P are wound around thepitch-wire pitch return pulley 611PR after passing through the yawmanipulation part 612 and the pitch manipulation part 611, and are thenfixedly coupled to a point of the bent part after passing through thepitch manipulation part 611 and the yaw manipulation part 612.

If a user rotates the first handle 614 around the pitch rotation shaft6111, the pitch-wire pitch return pulley 611PR is also rotated aroundthe pitch rotation shaft 6111. In this case, since both strands 630PLand 630PR of the pitch wire 630P are wound in opposite directions aroundthe pitch-wire pitch pulleys 611PP rotatable around the pitch rotationshaft 611, both strands 630PL and 630PR of the pitch wire 630P adjacentto the end tool 620 are moved in opposite directions, and thusadditional pitch-rotation power may be transmitted independently of thepitch motion of the end tool 620 by the second jaw wire 630J1 and thesecond jaw wire 630J2.

Next, yaw motion will be described below.

Referring to FIGS. 57 and 59, if a user rotates the first handle 614around the yaw rotation shaft 6121 while holding the first handle 614,the actuation manipulation part 613, the pitch manipulation part 611,and the yaw manipulation part 612 are yaw rotated around the yawrotation shaft 6121. That is, if the first actuation pulley 613P1 of thefirst actuation manipulation part 613 a to which the first jaw wire630J1 is fixedly coupled is rotated around the yaw rotation shaft 6121,the first jaw wire 630J1 wound around the first jaw yaw pulley 612P1 ismoved. Likewise, if the second actuation pulley 613P2 of the secondactuation manipulation part 613 b to which the second jaw wire 630J2 isfixedly coupled is rotated around the yaw rotation shaft 6121, thesecond jaw wire 630J2 wound around the second jaw yaw pulley 612P2 ismoved. In this case, the first jaw wire 630J1 connected to the first jaw621 and the second jaw wire 630J2 connected to the second jaw 622 may beconfigured such that the first jaw 621 and the second jaw 622 may berotated in the same direction during yaw rotation. Then, rotating forceis transmitted to the end tool 620 through the power transmission part630, and the two jaws 621 and 622 of the end tool 620 perform a yawmotion.

Meanwhile, the pitch wire 630P for easily perform pitch motion may notaffect the operation of the end tool 620 when the manipulation part 610is manipulated for yaw motion. That is, both strands 630PL and 630PR ofthe pitch wire 630P may not move toward the end tool 620 when themanipulation part 620 is manipulated for yaw motion.

In the sixth embodiment, both strands 630PL and 630PR of the pitch wire630P extending from the end tool 620 are correspondingly wound aroundthe pitch wire yaw pulleys 612PP1 and 612PP2 and the pitch wire yawauxiliary pulleys 612PS1 and 612PS2 in a crossed manner, and afterpassing through the pitch manipulation part 611 and the actuationmanipulation part 613, both strands 630PL and 630PR of the pitch wire630P are correspondingly wound around the pitch wire yaw auxiliarypulleys 612PS1 and 612PS2 and the pitch wire yaw pulleys 612PP1 and612PP2 in a crossed manner. Then, each of the strands 630PL and 630PR ofthe pitch wire 630P is finally fixedly coupled to a point of the bentpart 641. In this case, both strands 630PL and 630PR of the pitch wire630P are wound such that each of the strands 630PL and 630PR of thepitch wire 630P approaches and leaves the pitch wire yaw pulleys 612PP1and 612PP2 in opposite directions.

Thus, when a user rotates the first handle 614 around the yaw rotationshaft 6121, a portion of the pitch wire 630P wound around the pitch wireyaw pulleys 612PP1 and 612PP2 and extending toward the pitchmanipulation part 611 is moved. In this case, however, a portion of thepitch wire 630P wound around the pitch wire yaw pulleys 612PP1 and612PP2 and extending toward the end tool 620, that is, a portion of thepitch wire 630P extending from the end tool 620 and wound around thepitch wire yaw pulleys 612PP1 and 612PP2 and a portion of the pitch wire630P extending outward from the pitch wire yaw pulleys 612PP1 and 612PP2toward the point of the bent part 641 are not moved, thereby notaffecting the operation of the end tool 620.

In short, according to the instrument 600 for surgery of the embodimentof the present invention, pulleys are respectively provided on jointpoints (a actuation joint, a yaw joint, and a pitch joint), wires (thefirst jaw wire or the second jaw wire) are wound around the pulleys,such that if the manipulation part is rotated (actuation rotation, yawrotation, or pitch rotation), each wire is moved for a desired motion ofthe end tool 620. Furthermore, an auxiliary pulley may be provided at aside of each pulley, and a wire may not be wound several times aroundthe pulley owing to the auxiliary pulley.

Seventh Embodiment of Instrument for Surgery

Hereinafter, an instrument 700 for surgery will be described accordingto a seventh embodiment of the present invention. The instrument 700 forsurgery of the seventh embodiment of the present invention ischaracteristically different in the configuration of a manipulation part710 of the instrument 700 from the instrument 100 for surgery (refer toFIG. 2) of the first embodiment of the present invention. Thisdifference in the configuration from the first embodiment will bedescribed later in detail.

FIG. 61 is a perspective view illustrating the instrument for surgeryaccording to the seventh embodiment of the present invention, FIG. 62 isa side view illustrating the instrument for surgery of FIG. 61, FIG. 63is an inside perspective view illustrating the instrument for surgery ofFIG. 61, and FIG. 65 is an inside perspective view illustrating a wiringstructure of the instrument for surgery of FIG. 61. FIG. 66 is anenlarged view illustrating a portion A in FIG. 65, and FIG. 67 is across-sectional view taken along line C-C′ in FIG. 66. FIG. 68 is aperspective view illustrating a yaw motion of the instrument for surgeryof FIG. 61, and FIG. 69 is a perspective view illustrating a pitchmotion of the instrument for surgery of FIG. 61.

Referring to FIGS. 61 to 69, the instrument 700 for surgery of theseventh embodiment of the present invention includes the manipulationpart 710, an end tool 720, a power transmission part 730, and aconnecting part 740. Herein, the connecting part 740 may have a hollowshaft shape accommodating at least one wire (described later). Themanipulation part 710 may be coupled to one end portion of theconnecting part 740, and the end tool 720 may be coupled to the otherend portion of the connecting part 640 such that the manipulation part710 and the end tool 720 may be connected through the connecting part740. The connecting part 740 may include a bent part 741 at a side ofthe manipulation part 710.

According to the sixth embodiment of the present invention, themanipulation part 710 of the instrument 700 for surgery includes a pitchmanipulation part 711 configured to control pitch motion of the end tool720, a yaw manipulation part 712 configured to control yaw motion of theend tool 720, an actuation manipulation part (actuation operator) 713configured to control actuation motion of the end tool 720, and a firsthandle 714 that a user may hold.

First, an example operation of the instrument 700 for surgery shown inFIG. 61 will be described. In a state in which a user holds the firsthandle 714 with his/her palm, the user may perform a pitch motion byrotating the first handle 714 around an Y axis (that is, around a pitchrotation shaft 7111) and a yaw motion by rotating the first handle 714around a Z axis (that is, around a yaw rotation shaft 7121), and in astate in which the user inserts his/her thumb and index finger into theactuation manipulation part 713, the user may perform an actuationmotion by rotating the actuation manipulation part 713.

The instrument 700 for surgery of the seventh embodiment of the presentinvention is different from the first embodiment in that the bent part741 is divided into left and right branch parts at a center portion toform an approximate ‘∩’ shape, a pitch frame 7113 is alsocorrespondingly divided into left and right branch parts to form anapproximate ‘∩’ shape, and pitch rotation shafts 7111 are respectivelyprovided on both left and right branch end portions of the pitch frame7113. As a result, the pitch rotation shafts 7111 are significantlyspaced apart from the yaw rotation shaft 7121. That is, actuationrotation shafts 7131 a and 7131 b and the yaw rotation shaft 7121 areprovided on or near the first handle 714 and are thus relatively closeto the first handle 714. However, the pitch rotation shafts 7111 areprovided on left and right branch end portions of the pitch frame 7113.Therefore, the pitch rotation shafts 7111 may be somewhat lower than theactuation rotation shaft 7131 a and 7131 b and the yaw rotation shaft7121 in a Z-axis direction, and thus a portion of a user's hand may beplaced in the pitch frame 7113 having a ‘∩’ shape.

Owing to this configuration, as shown in FIG. 64, a rotation axis of ayaw joint and a rotation axis of a pitch joint of the manipulation partmay be placed close to each other, for example, in a crossed manner. Inaddition, the rotation axis of the yaw joint and the rotation axis ofthe pitch joint may correspond to the wrist of a user performing yaw andpitch manipulations. Thus, as a result, users may perform more natural,intuitive manipulations.

In detail, the first handle 714 may be configured such that a user maygrip the first handle 714 with his/her hand. In particular, a user maygrip the first handle 714 by holding around the first handle 614 withhis/her palm. In addition, the actuation manipulation part 713 isprovided on the first handle 714, the yaw manipulation part 712 isprovided on a side of the actuation manipulation part 713, the pitchmanipulation part 711 is provided on a side of the yaw manipulation part712, and the yaw manipulation part 712 and the pitch manipulation part711 are connected to each other through the pitch frame 7113 having a‘∩’ shape. In addition, another end portion of the pitch manipulationpart 711 is connected to the bent part 741 of the connecting part 740.

The actuation manipulation part 713 includes a first actuationmanipulation part 713 a and a second actuation manipulation part 713 b.The first actuation manipulation part 713 a includes a first actuationrotation shaft 7131 a, a first actuation rotation part 7132 a, a firstactuation pulley 713P1, and a first actuation gear 7134 a. The secondactuation manipulation part 713 b includes a second actuation rotationshaft 7131 b, a second actuation rotation part 7132 b, a secondactuation pulley 713P2, and a second actuation gear 7134 b. Here, thefirst and second actuation rotation parts 7132 a and 7132 b may functionas a second handle.

In addition, the first actuation rotation part 7132 a, the firstactuation pulley 713P1, and the first actuation gear 7134 a may befixedly coupled to each other so as to be rotated together around thefirst actuation rotation shaft 7131 a. Similarly, the second actuationrotation part 7132 b, the second actuation pulley 713P2, and the secondactuation gear 7134 b may be fixedly coupled to each other so as to berotated together around the second actuation rotation shaft 7131 b.Here, the first actuation gear 7134 a and the second actuation gear 7134b may be engaged with each other, and thus if one of the first andsecond actuation gears 7134 a and 7134 b is rotated, the first andsecond actuation gears 7134 a and 7134 b may be rotated together inopposite directions.

The yaw manipulation part 712 may include a yaw rotation shaft 7121, afirst jaw yaw pulley 712P1, a second jaw yaw pulley 712P2, and a yawframe 7123. In addition, the yaw manipulation part 712 may furtherinclude a first jaw yaw auxiliary pulley 712S1 provided on a side of thefirst jaw yaw pulley 712P1, and a second jaw yaw auxiliary pulley 712S2provided on a side of the second jaw yaw pulley 712P2. Here, the firstjaw yaw pulley 712P1, the second jaw yaw pulley 712P2, the first jaw yawauxiliary pulley 712S1, and the second jaw yaw auxiliary pulley 712S2may be corresponds to the pitch frame 7113 (described later).

Specifically, the yaw rotation shaft 7121 is provided on a side of theactuation manipulation part 714 above the first handle 714. In thiscase, the first handle 714 is rotatable around the yaw rotation shaft7121. In addition, the first jaw yaw pulley 712P1 and the second jaw yawpulley 712P2 are connected to the yaw rotation shaft 7121 and rotatablearound the yaw rotation shaft 7121. In addition, a first jaw wire 730J1may be wound around the first jaw yaw pulley 712P1, and a second jawwire 730J2 may be wound around the second jaw yaw pulley 712P2. In thiscase, each of the first jaw yaw pulley 712P1 and the second jaw yawpulley 712P2 may include two pulleys facing each other and independentlyrotatable. Therefore, an inward wire and an outward wire may berespectively wound around separate pulleys and thus may not interferewith each other.

The yaw frame 7123 connects the first handle 714, the yaw rotation shaft7121, the first actuation rotation shaft 7131 a, and the secondactuation rotation shaft 731 b such that the first handle 714, the yawmanipulation part 712, and the actuation manipulation part 713 may berotated together around the yaw rotation shaft 7121.

The pitch manipulation part 711 may include the pitch frame 7113, a J1Rrelay pulley 715J1R, a J1L relay pulley 715J1L, a J2R relay pulley (notshown), and a J2L relay pulley (not shown). Here, the J1R relay pulley715J1R and the J2R relay pulley (not shown) may be provided on the leftand right branch end portions of the pitch frame 7113, and the J1L relaypulley 715J1L and the J2L relay pulley (not shown) may be respectivelyprovided on the left and right branch end portions of the pitch frame7113.

In this case, the J1R relay pulley 715J1R, the J1L relay pulley 715J1L,the J2R relay pulley 715J2R, and the J2L relay pulley 715J2L may havethe function of pitch pulleys in the above-described embodiments, andmay be rotatable around the pitch rotation shafts 7111.

In addition, a first jaw R wire 730J1R refers to the right one of bothstrands of the first jaw wire 730J1, and the first jaw R wire 730J1R isdivided into two: a first jaw R wire-in 730J1Rin entering the pitchmanipulation part 711 and a first jaw R wire-out 730J1Rout leaving thepitch manipulation part 711 and connected to the actuation manipulationpart 713.

Similarly, a first jaw L wire 730J1L refers to the left one of bothstrands of the first jaw wire 730J1, and the first jaw L wire 730J1L isdivided into two: a first jaw L wire-in 730J1Lin entering the pitchmanipulation part 711 and a first jaw L wire-out 730J1Lout leaving thepitch manipulation part 711 and connected to the actuation manipulationpart 713.

The J1R relay pulley 715J1R includes two pulleys facing each other androtatable together. In addition, one of the two pulleys of the J1R relaypulley 715J1R is coupled to the first jaw R wire-in 730J1Rin, and theother pulley is coupled to the first jaw R wire-out 730J1Rout. In thiscase, as shown in FIG. 66, the direction in which the first jaw Rwire-in 730J1Rin is wound around the J1R relay pulley 715J1R(counterclockwise in FIG. 66) is the same as the direction in which thefirst jaw R wire-out 730J1Rout is released from the J1R relay pulley715J1R (counterclockwise in FIG. 66).

The J1L relay pulley 715J1L includes two pulleys facing each other androtatable together. In addition, one of the two pulleys of the J1L relaypulley 715J1L is coupled to the first jaw L wire-in 730J1Lin, and theother pulley is coupled to the first jaw L wire-out 730J1Lout. In thiscase, as shown in FIG. 66, the direction in which the first jaw Lwire-in 730J1Lin is wound around the J1L relay pulley 715J1L(counterclockwise in FIG. 66) is the same as the direction in which thefirst jaw L wire-out 730J1Lout is released from the J1L relay pulley715J1L (counterclockwise in FIG. 66).

For example, if the first jaw R wire-in 730J1Rin is pushed or pulled,the J1R relay pulley 715J1R is rotated, and thus the first jaw Rwire-out 730J1Rout connected through the J1R relay pulley 715J1R ispushed or pulled along the J1R relay pulley 715J1R in the same directionas the first jaw R wire-in 730J1Rin, that is, in the rotation directionof the J1R relay pulley 715J1R. That is, if the first jaw R wire-in730J1Rin is moved toward the end tool 720 from the J1R relay pulley715J1R, the first jaw R wire-out 730J1Rout may be moved in a directionfrom the yaw manipulation part 712 toward the J1R relay pulley 715J1R.This also applies to the first jaw L wire 730J1L. In this case, the J1Rrelay pulley 715J1R and the J1L relay pulley 715J1L may be independentlyrotatable around the pitch rotation shafts 7111. The second jaw wire mayconnect the end tool and the manipulation part in the same manner.

Pitch wire end pulleys 715P are fixedly coupled to the pitch rotationshafts 7111 and rotatable together with the pitch rotation shafts 7111,and the pitch rotation shafts 7111 are fixedly coupled to the pitchframe 7113. As a result, the pitch frame 7113, the pitch rotation shafts7111, and the pitch wire end pulleys 715P may be rotated together bypitch rotation. In this case, each of the J1R relay pulley 715J1R, theJ1L relay pulley 715J1L, the J2R relay pulley 715J2R, and the J2L relaypulley 715J2L may be independently rotated around the pitch rotationshafts 7111.

Actuation, yaw, and pitch motions in the present embodiment aredescribed below.

First, actuation motion is described below.

In a state in which a user inserts his/her index finger in the firstactuation rotation part 7132 a and his/her thumb in the second actuationrotation part 7132 b, if the user rotates the actuation rotation parts7132 a and 7132 b using one or both of his/her index finger and thumb,the first actuation pulley 713P1 and the first actuation gear 7134 afixedly coupled to the first actuation rotation part 7132 a are rotatedaround the first actuation rotation shaft 7131 a, and the secondactuation pulley 7133 b and the second actuation gear 7134 b fixedlycoupled to the second actuation rotation part 7132 b are rotated aroundthe second actuation rotation shaft 7131 b. At this time, the firstactuation pulley 713P1 and the second actuation pulley 713P2 are rotatedin opposite directions, and thus the first jaw wire 730J1 fixedlycoupled to the first actuation pulley 713P1 at an end portion thereofand the second jaw wire 730J2 fixedly coupled to the second actuationpulley 713P2 at an end portion thereof are also moved in oppositedirections. Then, rotating force is transmitted to the end tool 720through the power transmission part 730, and two jaws 721 and 722 of theend tool 720 perform an actuation motion.

Next, yaw motion will be described below.

Referring to FIGS. 65 and 68, if a user rotates the first handle 714around the yaw rotation shaft 7121 while holding the first handle 714,the actuation manipulation part 713 and the yaw manipulation part 712are yaw rotated around the yaw rotation shaft 7121. That is, if thefirst actuation pulley 713P1 of the first actuation manipulation part713 a to which the first jaw wire 730J1 is fixedly coupled is rotatedaround the yaw rotation shaft 7121, the first jaw wire 730J1 woundaround the first jaw yaw pulley 712P1 is moved. Likewise, if the secondactuation pulley 713P2 of the second actuation manipulation part 713 bto which the second jaw wire 730J2 is fixedly coupled is rotated aroundthe yaw rotation shaft 7121, the second jaw wire 730J2 wound around thesecond jaw yaw pulley 712P2 is moved. In this case, the first jaw wire730J1 connected to the first jaw 721 and the second jaw wire 730J2connected to the second jaw 722 may be configured such that the firstjaw 721 and the second jaw 722 may be rotated in the same directionduring yaw rotation. Then, rotating force is transmitted to the end tool720 through the power transmission part 730, and the two jaws 721 and722 of the end tool 720 perform a yaw motion.

At this time, since the yaw frame 7123 connects the first handle 714,the yaw rotation shaft 7121, the first actuation rotation shaft 7131 a,and the second actuation rotation shaft 7131 b to each other, the firsthandle 714, the yaw manipulation part 712, and the actuationmanipulation part 713 are rotated together around the yaw rotation shaft7131.

Next, pitch motion will be described below.

Referring to FIGS. 65 and 69, if a user rotates the first handle 714around the pitch rotation shafts 7111 while holding the first handle714, the actuation manipulation part 713, the yaw manipulation part 712,and the pitch manipulation part 711 are pitch rotated around the pitchrotation shafts 7111. That is, if the first actuation pulley 713P1 ofthe first actuation manipulation part 713 a to which the first jaw wire730J1 is fixedly coupled is rotated around the pitch rotation shafts7111, both strands 730J1R and 730J1L of the first jaw wire 730J1 coupledto the J1R relay pulley 715J1R and the J1L relay pulley 715J1L are movedin the same direction. Similarly, if the second actuation pulley 713P2of the second actuation manipulation part 713 b to which the second jawwire 730J2 is fixedly coupled is rotated around the pitch rotationshafts 7111, both strands of the second jaw wire 730J2 coupled to theJ2R relay pulley 715J2R and the J2L relay pulley 715J2L are moved in thesame direction. At this time, the first jaw wire 730J1 and the secondjaw wire 730J2 are moved in opposite directions. Then, rotating force istransmitted to the end tool 720 via the power transmission part 730, andthus the two jaws 721 and 722 of the end tool 720 perform a pitchmotion.

At this time, since the pitch frame 7113 is connected to the yaw frame7123 and the yaw frame 7123 connects the first handle 714, the yawrotation shaft 7121, the first actuation rotation shaft 7131 a, and thesecond actuation rotation shaft 7131 b to each other, if the pitch frame7113 is rotated around the pitch rotation shafts 7111, the yaw frame7123, the first handle 714, the yaw rotation shaft 7121, the firstactuation rotation shaft 7131 a, and the second actuation rotation shaft7131 b connected to the pitch frame 7113 are rotated together. That is,if the pitch manipulation part 711 is rotated around the pitch rotationshafts 7111, the actuation manipulation part 713 and the yawmanipulation part 712 are rotated together with the pitch manipulationpart 711.

In addition, a pitch pulley 723P may be provided on the end tool, thepitch wire end pulleys 715P may be provided on the manipulation part andconnected to pitch wires 730P such that pitch motion of the end tool maybe more easily performed by pitch manipulating the manipulation part.End portions of both strands of the pitch wires 730P are respectivelyfixedly coupled to the pitch wire end pulleys 715P, and each of thepitch wire end pulleys 715P is fixedly coupled to the pitch frame 7113.That is, the pitch frame 7113 and the pitch wire end pulleys 715P arerotated together around the pitch rotation shafts 7111 by pitch rotationof the manipulation part, and as a result, both strands of the pitchwires 730P are moved in opposite directions such that power for pitchrotation may be transmitted independently of pitch motion of the endtool by the first jaw wire 730J1 and the second jaw wire 730J2.

In short, according to the instrument 700 for surgery of the embodimentof the present invention, pulleys are respectively provided on jointpoints (a actuation joint, a yaw joint, and a pitch joint), wires (thefirst jaw wire or the second jaw wire) are wound around the pulleys,such that if the manipulation part is rotated (actuation rotation, yawrotation, or pitch rotation), each wire is moved for a desired motion ofthe end tool 720. Furthermore, an auxiliary pulley may be provided at aside of each pulley, and a wire may not be wound several times aroundthe pulley owing to the auxiliary pulley.

One of main features of the present embodiment is that since the bentpart 741 and the manipulation part 710 are divided into two parts, arotation axis of a yaw joint and a rotation axis of a pitch joint of themanipulation part may be placed as close as possible, for example, in acrossed manner as shown in FIG. 64, and a space may be formed at or neara crossing point to receive a user's hand or wrist. To this end, in thepresent embodiment, elements of the manipulation part 710 (such aspulleys and wires) are divided into two groups and arranged at bothdivision sides. However, the configuration for the above-mentionedfeature may be variously modified. That is, elements of the manipulationpart 710 (such as pulleys and wires) may be arranged only at one of bothdivision sides. Furthermore, instead of dividing the bent part 741 andthe manipulation part 710 into both sides, the bent part 741 and themanipulation part 710 may be bent only at one side to form a space foraccommodating a user's hand or wrist. That is, in the two-part divisionstructure of the present embodiment, one part may be omitted. Suchmodifications may be sufficiently deduced from the above-description ofthe present embodiment, and thus detailed descriptions thereof will beomitted.

Eighth Embodiment of Instrument for Surgery

Hereinafter, an instrument 800 for surgery will be described accordingto a eighth embodiment of the present invention. The instrument 800 forsurgery of the eighth embodiment of the present invention ischaracteristically different in the configuration of a manipulation part810 of the instrument 800 from the instrument for surgery of the sixthembodiment of the present invention. As in the sixth embodiment, in thejoint structure of the manipulation part 810 for manipulating theoperation of an end tool 820, a yaw manipulation part 812 is firstplaced, and then a pitch manipulation part 811 and an actuationmanipulation part 813 is provided on the yaw manipulation part 812 whenviewed based on wires connected from the end tool 820 to themanipulation part 810. However, the difference between the eighthembodiment and the sixth embodiment is that, as in the seventhembodiment, a bent part 841 is divided into left and right branch partsat a center portion to form an approximate ‘∩’ shape, a pitch frame 8113is also divided into left and right branch parts to form an approximate‘∩’ shape, and both left and right branch end portions of the pitchframe 8113 are connected to both left and right branch end portions ofthe bent part 841 through pitch rotation shafts 8111. Owning to thisstructure, as described in the seventh embodiment, a rotation axis of ayaw joint and a rotation axis of a pitch joint of the manipulation part810 may be intuitively identical to a user's wrist joint performing yawand pitch manipulations by holding a handle, such that the user mayperform more natural, intuitive manipulations.

FIG. 70 is a perspective view illustrating the instrument for surgeryaccording to the eighth embodiment of the present invention, FIG. 71 isan inside perspective view illustrating the instrument for surgery ofFIG. 70, and FIG. 72 is an inside perspective view illustrating a wiringstructure of the instrument for surgery of FIG. 70. FIG. 73 is aperspective view illustrating a yaw motion of the instrument for surgeryof FIG. 70, and FIGS. 74, 75, and 76 are perspective views illustratinga pitch motion of the instrument for surgery of FIG. 70.

The configuration difference between the eighth embodiment and the sixthembodiment is the same as the configuration difference between theseventh embodiment and the first embodiment. That is, the seventhembodiment is different from the first embodiment in that the path ofeach jaw wire and pulleys for the wire are divided into two, andsimilarly, the eighth embodiment is different from the sixth embodimentin that the path of each jaw wire and pulleys for the wire are dividedinto two. Therefore, the configuration of the eighth embodiment may besufficiently understood from the descriptions of the sixth embodimentand the seventh embodiment, and thus a detailed description thereof willbe omitted.

One of main features of the present embodiment is that since the bentpart 841 and the manipulation part 810 are divided into two parts, arotation axis of a yaw joint and a rotation axis of a pitch joint of themanipulation part may be placed as close as possible, for example, in acrossed manner as shown in FIG. 64, and a space may be formed at or neara crossing point to receive a user's hand or wrist. To this end, in thepresent embodiment, elements of the manipulation part 810 (such aspulleys and wires) are divided into two groups and arranged at bothdivision sides. However, the configuration for the above-mentionedfeature may be variously modified. That is, elements of the manipulationpart 810 (such as pulleys and wires) may be arranged only at one of bothdivision sides. Furthermore, instead of dividing the bent part 841 andthe manipulation part 810 into both sides, the bent part 841 and themanipulation part 810 may be bent only at one side to form a space foraccommodating a user's hand or wrist. That is, in the two-part divisionstructure of the present embodiment, one part may be omitted. Suchmodifications may be sufficiently deduced from the above-description ofthe present embodiment, and thus detailed descriptions thereof will beomitted.

Ninth Embodiment of Instrument for Surgery

Hereinafter, an instrument 900 for surgery will be described accordingto a ninth third embodiment of the present invention. The instrument 900for surgery of the ninth embodiment of the present invention ischaracteristically different in the configuration of a manipulation part910 of the instrument 900 from the instrument 100 for surgery (refer toFIG. 2) of the first embodiment of the present invention. This differentconfiguration from the first embodiment will now be described in detail.

FIG. 77 is an inside perspective view illustrating the instrument forsurgery according to the ninth embodiment of the present invention, FIG.78 is a perspective view illustrating a yaw motion of the instrument forsurgery of FIG. 77, and FIG. 79 is a perspective view illustrating apitch motion of the instrument for surgery of FIG. 77.

In the instrument 900 for surgery of the ninth embodiment of the presentinvention, the modification shown in FIG. 25A is specifically embodied.That is, the first jaw yaw auxiliary pulley 112S1 of FIG. 25Acorresponds to a first jaw yaw auxiliary pulley 912S1 of FIG. 77, thefirst jaw yaw pulley 112P1 of FIG. 25A corresponds to a first jaw yawpulley 912P1 of FIG. 77, and the first actuation pulley 113P1 and thesecond actuation pulley 113P2 of FIG. 25A correspond to a firstactuation pulley 913P1 and a second actuation pulley 913P2 of FIG. 77.

Here, the present embodiment is different from the first embodiment inthat ends of both strands of a jaw wire are not coupled to the sameactuation pulley but are coupled to different actuation pulleys. Thatis, an end of a strand of the first jaw wire 930J1 is coupled to thefirst actuation pulley 913P1, and an end of the other strand of thefirst jaw wire 930J1 is coupled to the second actuation pulley 913P2.

In addition, the first actuation pulley 913P1 is fixedly coupled to afirst actuation gear 9134 a and rotatable together with the firstactuation gear 9134 a, the second actuation pulley 913P2 is fixedlycoupled to a second actuation gear 9134 b and rotatable together withthe second actuation gear 9134 b, and the first actuation gear 9134 aand the second actuation gear 9134 b are engaged with each other suchthat rotations of the two actuation pulleys may be synchronized.Therefore, if one of the actuation pulleys is rotated, the otheractuation pulley may be accordingly rotated.

As described above, since rotations of the two actuation pulleys aresynchronized with each other, although both strands of the first jawwire 930J1 are not wound around one actuation pulley but are woundaround different actuation pulleys, the same effect may be obtained.Therefore, as shown in FIG. 25B, it is possible to provide structuressuch as a structure in which both strands of the first jaw wire 930J1are respectively wound around the actuation pulleys, and since thesestructures can be easily conceived of, detailed descriptions thereofwill be omitted.

Tenth Embodiment of Instrument for Surgery

Hereinafter, an instrument 1000 for surgery will be described accordingto a tenth embodiment of the present invention. The instrument 1000 forsurgery of the tenth embodiment of the present invention ischaracteristically different in the configuration of a manipulation part1010 of the instrument 1000 from the instrument 100 for surgery (referto FIG. 2) of the first embodiment of the present invention. Thisdifferent configuration from the first embodiment will now be describedin detail.

FIG. 80 is an inside perspective view illustrating the instrument forsurgery according to the tenth embodiment of the present invention, FIG.81 is an inside perspective view illustrating the instrument for surgeryof FIG. 80 except for actuation gears, FIG. 82 is a perspective viewillustrating a yaw motion of the instrument for surgery of FIG. 81, andFIG. 83 is a perspective view illustrating a pitch motion of theinstrument for surgery of FIG. 81.

In the instrument 1000 for surgery of the tenth embodiment of thepresent invention, the modification shown in FIG. 26 is specificallyembodied. That is, the first jaw yaw auxiliary pulley 112S1 of FIG. 26corresponds to a first jaw yaw auxiliary pulley 1012S1 of FIG. 81, thefirst jaw yaw pulley 112P1 of FIG. 26 corresponds to a first jaw yawpulley 1012P1 of FIG. 81, and the first actuation pulley 113P1 and thesecond actuation pulley 113P2 of FIG. 26 correspond to a first actuationpulley 1013P1 and a second actuation pulley 1013P2 of FIG. 81.

Here, the present embodiment is different from the first embodiment inthat ends of both strands of a jaw wire are not coupled to the sameactuation pulley but are coupled to different actuation pulleys. Thatis, an end of a strand of a first jaw wire 1030J1 is coupled to thefirst actuation pulley 1013P1, and an end of the other strand of thefirst jaw wire 1030J1 is coupled to the second actuation pulley 1013P2.

In addition, the first actuation pulley 1013P1 is fixedly coupled to afirst actuation gear 10134 a and rotatable together with the firstactuation gear 10134 a, the second actuation pulley 1013P2 is fixedlycoupled to a second actuation gear 10134 b and rotatable together withthe second actuation gear 10134 b, and the first actuation gear 10134 aand the second actuation gear 10134 b are engaged with each other suchthat rotations of the two actuation pulleys may be synchronized.Therefore, if one of the actuation pulleys is rotated, the otheractuation pulley may be accordingly rotated.

In addition, the present embodiment is different from the embodimentshown in FIG. 2 in that the two actuation pulleys are not adjacent toeach other but are spaced apart from each other and are opposite eachother with respect to the first jaw yaw pulley 112P1.

In addition, the first actuation gear 10134 a and the second actuationgear 10134 b may have relative large diameters compared to the previousembodiments such that the first actuation gear 10134 a and the secondactuation gear 10134 b distant from each other may engage with eachother and rotate together.

This configuration makes it possible to place the actuation pulleys atmore rearward positions than in other embodiments. That is, a longactuation handle may be provided, and thus actuation motion may be moreeasily performed. The reason for this is that as the length of a handleincreases, actuation manipulation is performed with less force owing tothe principle of the lever.

Eleventh Embodiment of Instrument for Surgery

Hereinafter, an instrument 1100 for surgery will be described accordingto an eleventh embodiment of the present invention. The instrument 1100for surgery of the tenth embodiment of the present invention ischaracteristically different in the configuration of a manipulation part1110 of the instrument 1100 from the instrument 100 for surgery (referto FIG. 2) of the first embodiment of the present invention. Thisdifferent configuration from the first embodiment will now be describedin detail.

FIG. 84 is an inside perspective view illustrating the instrument forsurgery according to the eleventh embodiment of the present invention,FIG. 85 is an inside perspective view illustrating the instrument forsurgery of FIG. 84 except for actuation gears, FIG. 86 is a perspectiveview illustrating a yaw motion of the instrument for surgery of FIG. 84,and FIG. 87 is a perspective view illustrating a pitch motion of theinstrument for surgery of FIG. 84.

In the instrument 1100 for surgery of the eleventh embodiment of thepresent invention, the modification shown in FIG. 27 is specificallyembodied. That is, the first jaw yaw auxiliary pulley 112S1 of FIG. 27corresponds to a first jaw yaw auxiliary pulley 1112S1 of FIG. 84, thefirst jaw yaw pulley 112P1 of FIG. 27 corresponds to a first jaw yawpulley 1112P1 of FIG. 84, and the first actuation pulley 113P1 and thesecond actuation pulley 113P2 of FIG. 27 correspond to a first actuationpulley 1113P1 and a second actuation pulley 1113P2 of FIG. 84.

Here, the present embodiment is different from the first embodiment inthat two actuation pulleys are not adjacent to each other but are spacedapart from each other and are opposite each other with respect to a yawpulley. In addition, to this end, the first actuation pulley 1113P1 isfixedly coupled to a first actuation gear 11134 a and rotatable togetherwith the first actuation gear 11134 a, the second actuation pulley1113P2 is fixedly coupled to a second actuation gear 11134 b androtatable together with the second actuation gear 11134 b, and the firstactuation gear 11134 a and the second actuation gear 11134 b are engagedwith each other such that rotations of the two actuation pulleys may besynchronized. Therefore, if one of the actuation pulleys is rotated, theother actuation pulley may be accordingly rotated.

In addition, the first actuation gear 11134 a and the second actuationgear 11134 b may have relative large diameters compared to the previousembodiments such that the first actuation gear 11134 a and the secondactuation gear 11134 b distant from each other may engage with eachother and rotate together.

In addition, the present embodiment is different from the firstembodiment in that the positional relationship (front-rear positionalrelationship) between a yaw pulley and a yaw auxiliary pulley ismodified. That is, even in a direct-type joint, a pulley located at aright side in the drawings is the first jaw yaw pulley 1112P1, and arotation shaft of the first jaw yaw pulley 1112P1 functions as a yawrotation axis. In addition, to this end, a first jaw wire passing over afirst jaw pitch auxiliary pulley-a 111S1 a is wound around the first jawyaw auxiliary pulley 1112S1, and is then fixedly coupled to the firstactuation pulley 1113P1 after passing over the first jaw yaw auxiliarypulley 1112S1. In addition, the first jaw wire passing over the firstjaw pitch auxiliary pulley-b (not shown) is passed over the first jawyaw pulley 1112P1 and directly fixedly coupled to the first actuationpulley 1113P1 without passing over the first jaw yaw auxiliary pulley1112S1.

In this configuration, a yaw rotation axis may be located closer to apitch rotation axis than in other embodiments. As a result, a user mayperform more natural, intuitive manipulation. In addition, thisconfiguration makes it possible to place the actuation pulleys at morerearward positions than in other embodiments. That is, a long actuationhandle may be provided, and thus actuation motion may be more easilyperformed. The reason for this is that as the length of a handleincreases, actuation manipulation is performed with less force owing tothe principle of the lever.

Twelfth Embodiment of Instrument for Surgery

Hereinafter, an instrument 1200 for surgery will be described accordingto a twelfth embodiment of the present invention. Here, the instrument1200 for surgery of the twelfth embodiment of the present invention ischaracteristically different in the configuration of a manipulation part1210 of the instrument 1200 from the instrument 100 for surgery (referto FIG. 2) of the first embodiment of the present invention.

FIG. 88 is a perspective view illustrating the instrument for surgeryaccording to the twelfth embodiment of the present invention, and FIG.89 is an inside perspective view illustrating structures such as awiring structure of the instrument for surgery of FIG. 88.

As in the sixth embodiment, in the joint structure of the manipulationpart 1210 for manipulating the operation of an end tool (not shown), apitch yaw manipulation part 1211, a yaw manipulation part 1212, and anactuation manipulation part 1213 are sequentially arranged when viewedbased on wires connected from the end tool to the manipulation part1210.

The configuration of the twelfth embodiment is characteristicallydifferent the configuration of the first embodiment in that a pitchrotation shaft 12111 is significantly spaced apart from a yaw rotationshaft 12121 as in the seventh embodiment. Owing to this, as shown inFIG. 88, the yaw rotation shaft 12121 of a yaw joint and the pitchrotation shaft 12111 of a pitch joint may be placed close to each other,for example, in a crossed manner, and along with this, a space foraccommodating a user's hand or wrist may be formed at or near a crossingpoint.

However, the configuration of the twelfth embodiment ischaracteristically different from the configuration of the seventhembodiment in the configuration of the manipulation part. In the seventhembodiment, the bent part 741 and the pitch frame 7113 are divided intoleft and right branch parts to form an approximate ‘∩’ shape, and bothleft and right branch end portions of the pitch frame 7113 are connectedto both left and right branch end portions of the bent part 741 throughthe pitch rotation shafts 7111. However, in the twelfth embodiment, asshown in FIG. 88, a bent part 1241 and the manipulation part 1210 arenot divided into two parts but are bent only at one side.

Owing to this structure, although additional relay pulleys (such as therelay pulleys 715J1R and 715J1L) used in the seventh embodiment are notused, a first jaw wire (not shown) and a second jaw wire (not shown) maybe connected from the end tool (not shown) to the manipulation part1210.

Therefore, the yaw rotation shaft 12121 of the yaw joint and the pitchrotation shaft 12111 of the pitch joint of the manipulation part 1210may be intuitively identical to a user's wrist joint performing yaw andpitch manipulations by holding a handle. Thus, users may perform morenatural, intuitive manipulations.

Except for the bent part 1241 and a pitch frame 12113 having a bentstructure, the configuration of the manipulation part 1210 of thetwelfth embodiment is the same as the configuration of yaw and pitchpulleys of the instrument 100 for surgery of the first embodiment andthe configuration of the instrument 700 for surgery of the seventhembodiment. Therefore, the configuration of the twelfth embodiment maybe sufficiently understood from the descriptions of the first embodimentand the seventh embodiment, and thus a detailed description thereof willbe omitted.

<Pulleys of Manipulation Part and End Tool>

FIG. 90 is a view simply illustrating only a configuration of pulleysand wires making up joints of an instrument for surgery according toanother embodiment of the present invention. In FIG. 90, relay pulleyschanging paths of wires and not related to the operation of joints arenot illustrated.

Referring to FIG. 90, a manipulation part 1310 may include a firstactuation pulley 1313P1, a first jaw yaw pulley 1312P1, a first jaw yawauxiliary pulley 1312S1, a first jaw pitch pulley-a 1311P1 a, a firstjaw pitch pulley-b 1311P1 b, a first jaw pitch auxiliary pulley-a 1311S1a, and a first jaw pitch auxiliary pulley-b 1311S1 b that are related torotation of a first jaw 1321.

In addition, the manipulation part 1310 may include a second actuationpulley 1313P2, a second jaw yaw pulley 1312P2, a second jaw yawauxiliary pulley 1312S2, a second jaw pitch pulley-a 1311P2 a, a secondjaw pitch pulley-b 1311P2 b, a second jaw pitch auxiliary pulley-a1311S2 a, and a second jaw pitch auxiliary pulley-b 1311S2 b that arerelated to rotation of a second jaw 1322.

The first jaw yaw pulley 1312P1 and the second jaw yaw pulley 1312P2 maybe independently rotated around the same axis, that is, a yaw rotationshaft 13121. In this case, each of the first jaw yaw pulley 1312P1 andthe second jaw yaw pulley 1312P2 may include two pulleys facing eachother and configured to be independently rotated.

The first jaw yaw auxiliary pulley 1312S1 and the second jaw yawauxiliary pulley 1312S2 may be independently rotated around the sameaxis. In this case, the first jaw yaw auxiliary pulley 1312S1 mayinclude two pulleys facing each other and configured to be independentlyrotated, and the two pulleys may have different diameters. Similarly,the second jaw yaw auxiliary pulley 1312S2 may include two pulleysfacing each other and configured to be independently rotated, and thetwo pulleys may have different diameters.

The first jaw pitch auxiliary pulley-a 1311S1 a, the first jaw pitchauxiliary pulley-b 1311S1 b, the second jaw pitch auxiliary pulley-a1311S2 a, and the second jaw pitch auxiliary pulley-b 1311S2 b may beindependently rotatable around the same axis. In this case, the firstjaw pitch auxiliary pulley-a 1311S1 a and the first jaw pitch auxiliarypulley-b 1311S1 b may have different diameters. Further, the second jawpitch auxiliary pulley-a 1311S2 a and the second jaw pitch auxiliarypulley-b 1311S2 b may have different diameters.

The first jaw pitch pulley-a 1311P1 a, the first jaw pitch pulley-b1311P1 b, the second jaw pitch pulley-a 1311P2 a, and the second jawpitch pulley-b 1311P2 b may be independently rotatable around the sameaxis, that is, a pitch rotation shaft 13111.

A first jaw wire 1330J1 may be wound around the first actuation pulley1313P1 after being sequentially laid along the first jaw pitch pulley-a1311P1 a, the first jaw pitch auxiliary pulley-a 1311S1 a, the first jawyaw auxiliary pulley 1312S1, and the first jaw yaw pulley 1312P1 of themanipulation part 1310, and then may be sequentially laid along thefirst jaw yaw pulley 1312P1, the first jaw yaw auxiliary pulley 1312S1,the first jaw pitch auxiliary pulley-b 1311S1 b, and the first jaw pitchpulley-b 1311P1 b, such that the first jaw wire 1330J1 may move alongthe pulleys while rotating the pulleys. In this case, the first jaw wire1330J1 may be fixedly coupled to a point of the first actuation pulley1313P1.

Furthermore, the first jaw wire 1330J1 may include two separate wires,rather than two strands of a single wire. In this case, an end portionof each wire may be fixed to the first actuation pulley 1313P1.

A second jaw wire 1330J2 may be wound around the second actuation pulley1313P2 after being sequentially laid along the second jaw pitch pulley-a1311P2 a, the second jaw pitch auxiliary pulley-a 1311S2 a, the secondjaw yaw auxiliary pulley 1312S2, and the second jaw yaw pulley 1312P2 ofthe manipulation part 1310, and then may be sequentially laid along thesecond jaw yaw pulley 1312P2, the second jaw yaw auxiliary pulley1312S2, the second jaw pitch auxiliary pulley-b 1311S2 b, and the secondjaw pitch pulley-b 1311P2 b, such that the second jaw wire 1330J2 maymove along the pulleys while rotating the pulleys. In this case, thesecond jaw wire 1330J2 may be fixedly coupled to a point of the secondactuation pulley 1313P2.

Furthermore, the second jaw wire 1330J2 may include two separate wires,rather than two stands of a single wire. In this case, an end portion ofeach wire may be fixed to the second actuation pulley 1313P2.

In addition, an end tool 1320 includes: a J11 pulley 1323J11, a J12pulley 1323J12, a J13 pulley 1323J13, a J14 pulley 1323J14, and a J15pulley 1323J15 that are related to the rotation motion of the first jaw1321; and a J21 pulley 1323J21, a J22 pulley 1323J22, a J23 pulley1323J23, a J24 pulley 1323J24, and a J25 pulley 1323J25 that are relatedto the rotation motion of the second jaw 1322. In this case, the firstjaw 1321, the J11 pulley 1323J11, the J12 pulley 1323J12, the J14 pulley1323J14, the second jaw 1322, the J21 pulley 1323J21, the J22 pulley1323J22, and the J24 pulley 1323J24 may be configured to rotate aroundan end tool pitch rotation shaft 1323PA.

In addition, the connecting part hub 142 (refer to FIG. 4) is providedon an end portion of a connecting part 1340 coupled to the end tool1320. The J12 pulley 1323J12, the J13 pulley 1323J13, the J14 pulley1323J14, the J15 pulley 1323J15, the J22 pulley 1323J22, the J23 pulley1323J23, the J24 pulley 1323J24, and the J25 pulley 1323J25 areconnected to the connecting part hub 142 (refer to FIG. 4).

Although it is illustrated that pulleys facing each other are parallelto each other, the idea of the present invention is not limited thereto.That is, the pulleys may have various positions and sizes suitable forthe configuration of the end tool.

The J11 pulley 1323J11 and the J21 pulley 1323J21 face each other androtate independently around a jaw rotation shaft 1323JA. Here, the firstjaw 121 (refer to FIG. 4) may be fixedly coupled to the J11 pulley1323J11 so as to be rotated together with the J11 pulley 1323J11, andthe second jaw 122 (refer to FIG. 4) may be fixedly coupled to the J21pulley 1323J21 so as to be rotated together with the J21 pulley 1323J21.Yaw and actuation motions of the end tool 1320 are performed accordingto rotations of the J11 pulley 1323J11 and the J21 pulley 1323J21. Thatis, yaw motion is performed when the J11 pulley 1323J11 and the J21pulley 1323J21 are rotated in the same direction, and actuation motionis performed when the J11 pulley 1323J11 and the J21 pulley 1323J21 arerotated in opposite directions.

In addition, a J16 pulley 1323J16 and a J26 pulley 1323J26 may beadditionally provided as auxiliary pulleys on a side of the J11 pulley1323J11 and the J21 pulley 1323J21, and the auxiliary pulleys may berotatable on an auxiliary pulley shaft 1323S. Although it is illustratedthat the J16 pulley 1323J16 and the J26 pulley 1323J26 are configured torotate on the single auxiliary pulley shaft 1323S, the auxiliary pulleysmay be configured to rotate on separate shafts, respectively. In otherwords, the J16 pulley 1323J16 being an auxiliary pulley may be placedbetween the J11 pulley 1323J11 and the J12 pulley 1323J12/the J14 pulley1323J14. In addition, the J26 pulley 1323J26 being an auxiliary pulleymay be placed between the J21 pulley 1323J21 and the J22 pulley1323J22/the J24 pulley 1323J24.

(Pitch-Related Pulleys)

FIG. 91 is a view illustrating the configurations of pulleys and wiresrelating to a pitch motion of the instrument 1300 for surgery shown inFIG. 90 separately with respect to a first jaw and a second jaw. FIG.91A is a view illustrating only pulleys and wires relating to the secondjaw, and FIG. 91B is a view illustrating only pulleys and wires relatingto the first jaw. As shown in FIG. 90, pulleys relating to pitch motionare paired, and both strands of each wire are wound in the same path.Thus, in FIG. 91, both strands of each wire are illustrated with oneline. In addition, FIG. 92 is a perspective view illustrating a pitchmotion of the instrument for surgery shown in FIG. 90.

Referring to FIG. 91B, if a first handle 1314 is rotated around thepitch rotation shaft 13111 in the direction of an arrow OPP1, parts suchas the first actuation pulley 1313P1, the first jaw pitch auxiliarypulleys 1311S1 a and 111S1 b, and the first jaw pitch pulleys 1311P1 aand 111P1 b, and the first jaw wire 1330J1 wound therearound are allrotated around the pitch rotation shaft 13111. At this time, since bothstrands of the first jaw wire 1330J1 are wound around upper portions ofthe first jaw pitch pulleys 1311P1 a and 111P1 b as shown in FIG. 90,the first jaw wire 1330J1 is moved in the direction of an arrow W1.Accordingly, the first jaw 1321 of the end tool 1320 is rotated in thedirection of an arrow EPP1.

Referring to FIG. 91A, if the first handle 1314 is rotated around thepitch rotation shaft 13111 in the direction of an arrow OPP2, parts suchas the second actuation pulley 1313P2, the second jaw pitch auxiliarypulleys 1311S2 a and 111S2 b, and the second jaw pitch pulleys 1311P2 aand 111P2 b, and the second jaw wire 1330J2 wound therearound are allrotated around the pitch rotation shaft 13111. At this time, since bothstrands of the second jaw wire 1330J2 are wound around lower portions ofthe second jaw pitch pulleys 1311P2 a and 111P2 b as shown in FIG. 90,the second jaw wire 1330J2 is moved in the direction of an arrow W2.Accordingly, the second jaw 1322 of the end tool 1320 is rotated in thedirection of an arrow EPP2.

In this case, the pulleys of the manipulation part 1310 respectivelycorrespond to the pulleys of the end tool 1320.

First, pitch pulleys will now be described.

In detail, the J12 pulley 1323J12, the J14 pulley 1323J14, the J22pulley 1323J22, and the J24 pulley 1323J24 that perform a pitch motionwhile being rotated around the end tool pitch rotation shaft 1323PA inthe end tool 1320 respectively correspond to the first jaw pitchpulley-a 1311P1 a, the first jaw pitch pulley-b 1311P1 b, the second jawpitch pulley-a 1311P2 a, and the second jaw pitch pulley-b 1311P2 b thatperform a pitch motion while being rotated around the pitch rotationshaft 13111 in the manipulation part 1310.

Here, for ease of description, the J12 pulley 1323J12, the J14 pulley1323J14, the J22 pulley 1323J22, and the J24 pulley 1323J24 of the endtool 1320 are grouped and referred to as an end tool pitch pulley, andthe first jaw pitch pulley-a 1311P1 a, the first jaw pitch pulley-b1311P1 b, the second jaw pitch pulley-a 1311P2 a, and the second jawpitch pulley-b 1311P2 b of the manipulation part 1310 are grouped andreferred to as a manipulation part pitch pulley.

In summary, if the manipulation part pitch pulley is rotated around thepitch rotation shaft 13111, the end tool pitch pulley performs the pitchmotion while being rotated around the end tool pitch rotation shaft1323PA.

Here, in the present embodiment, (at least a portion of) the end toolpitch pulley and (at least a portion of) the manipulation part pitchpulley are characterized by having different diameters. If (at least aportion of) the end tool pitch pulley and (at least a portion of) themanipulation part pitch pulley have different diameters as describedabove, the rotation angle of (at least a portion of) the end tool pitchpulley and the rotation angle of (at least a portion of) themanipulation part pitch pulley are characterized by being different fromeach other, which will be described hereinafter in more detail.

First, the end tool 1320 has to perform the pitch motion in the range ofat least +90° to −90° (or more) relative to the Y axis. However, therange of motion of the wrist of a user holding the manipulation part1310 is (of course, different from person to person) about at least +60°to −60° approximately relative to the Y axis. Thus, if the rotationangle of (at least a portion of) the end tool pitch pulley and therotation angle of (at least a portion of) the manipulation part pitchpulley are the same, the range of motion of the end tool 1320 is limitedto the range of motion of the wrist of the user or less, such that theend tool 1320 may be unable to operate at an angle as needed. If theuser performs a motion by excessively bending the wrist 90°, the fatigueof the user increases, and the body is strained, which results in anergonomically undesired design.

Furthermore, the instrument for surgery according to the presentinvention includes the connecting part 140 (refer to FIG. 4) includingthe bent part 141 (refer to FIG. 4), and the shape of the bent part 141(refer to FIG. 4) may limit the range of motion of the manipulation part1310.

Thus, by forming the pitch driving pulleys corresponding to each other,(at least a portion of) the end tool pitch pulley and (at least aportion of) the manipulation part pitch pulley, to have differentdiameters, the rotation angle of (at least a portion of) the end toolpitch pulley and the rotation angle of (at least a portion of) themanipulation part pitch pulley are adjusted to be different from eachother.

That is, when the manipulation part pitch pulley and the end tool pitchpulley are rotated together, the “length” of the wire wound therearoundchanges equally. Thus, by adjusting the diameters of the pulleys aroundwhich the wire is wound, the rotation angles of the pulleys around whichthe wire is wound are adjusted to be different from each other when thewire moves the same length.

In particular, even when the manipulation part pitch pulley is rotatedslightly, the end tool pitch pulley corresponding to the manipulationpart pitch pulley needs to be rotated a greater angle than themanipulation part pitch pulley is rotated, and thus the diameter of (atleast a portion of) the end tool pitch pulley may be smaller than thediameter of (at least a portion of) the manipulation part pitch pulley.

In this case,

(1:1.5)≤(Diameter of End Tool Pitch Pulley:Diameter of Manipulation PartPitch Pulley)≤(1:4.5)

may be set. This will now be described in more detail.

As described above, the range of motion required for the pitch motion ofthe end tool 1320 is +90° to −90°, whereas the range of motion of thewrist of the user holding the manipulation part 1310 is about +60° to−60°. Thus, the ratio of the diameter of the end tool pitch pulley tothe diameter of the manipulation part pitch pulley should be at least1:1.5 or more, so as to match the range of motion of the wrist of theuser and the required range of motion of the end tool 1320.

In addition, if the end tool 1320 is excessively rotated when the usermoves the manipulation part 1310 slightly, delicate and accuratemanipulation is difficult. Thus, it is impossible to limitlesslyincrease the ratio of the diameter of the end tool pitch pulley to thediameter of the manipulation part pitch pulley. The usability evaluationresult teaches that if the ratio of the diameter of the end tool pitchpulley to the diameter of the manipulation part pitch pulley is greaterthan or equal to 1:4.5, it is somewhat difficult for the user to performaccurate manipulation as desired.

Thus,

(1:1.5)≤(Diameter of End Tool Pitch Pulley:Diameter of Manipulation PartPitch Pulley)≤(1:4.5)

may be set.

Alternatively,

(1:1.5)≤(Rotation Angle of Manipulation Part Pitch Pulley:Rotation Angleof End Tool Pitch Pulley)≤(1:4.5)

may be set.

FIG. 90 illustrates a case where the diameter of the end tool pitchpulley is φ4 and the diameter of the manipulation part pitch pulley isφ10. In this case, (Diameter of End Tool Pitch Pulley:Diameter ofManipulation Part Pitch Pulley)=(1:2.5). In other words, (Rotation Angleof Manipulation Part Pitch Pulley:Rotation Angle of End Tool PitchPulley)=(1:2.5).

As described above, by forming (at least a portion of) the end toolpitch pulley and (at least a portion of) the manipulation part pitchpulley to have different diameters and different rotation angles, themanipulation convenience of the user may improve, and at the same timethe delicate and precise manipulation level may be maintained.

In addition, although not shown in the drawings, the instrument 1300 forsurgery according to the present embodiment may further include thepitch pulley 123P (refer to FIG. 4) provided on the side of the end tool1320, the pitch wire end pulley 115P (refer to FIG. 7B) provided on theside of the manipulation part 1310, and the pitch wire 130P (refer toFIG. 7B) connecting the pitch pulley 123P to the pitch wire end pulley115P. In this case, (Diameter of Pitch Pulley:Diameter of Pitch Wire EndPulley) may be the same as (Diameter of End Tool Pitch Pulley:Diameterof Manipulation Part Pitch Pulley).

(Yaw-Related Pulleys)

FIG. 93 is a view illustrating configurations of pulleys and wiresrelating to an actuation motion and a yaw motion of the instrument 1300for surgery shown in FIG. 90 separately with respect to the first jawand the second jaw, according to the embodiment of the presentinvention. FIG. 93A is a view illustrating only pulleys and wiresrelating to the second jaw, and FIG. 93B is a view illustrating onlypulleys and wires relating to the first jaw. In addition, FIG. 94 is aperspective view illustrating the yaw motion of the instrument forsurgery shown in FIG. 90.

Hereinafter, the operation of wires in the yaw motion will be described.

First, since the yaw rotation shaft 13121, a first actuation rotationshaft 13131 a, and a second actuation rotation shaft 13131 b areconnected to each other through the yaw frame 1123 (refer to FIG. 7),the yaw rotation shaft 13121, the first actuation rotation shaft 13131a, and the second actuation rotation shaft 13131 b are rotated togetheraround the yaw rotation shaft 13121.

Referring to FIG. 93B, if the first handle 1314 is rotated around theyaw rotation shaft 13121 in the direction of an arrow OPY1, the firstactuation pulley 1313P1, the first jaw yaw pulley 1312P1, and the firstjaw wire 1330J1 wound around the first actuation pulley 1313P1 and thefirst jaw yaw pulley 1312P1 are all rotated around the yaw rotationshaft 13121, and thus both strands of the first jaw wire 1330J1 woundaround the first jaw yaw pulley 1312P1 are moved respectively in thedirections W1 a and W1 b, thereby rotating the first jaw 1321 of the endtool 1320 in the direction of an arrow EPY1.

Referring to FIG. 93A, if the first handle 1314 is rotated around theyaw rotation shaft 13121 in the direction of an arrow OPY2, the secondactuation pulley 1313P2, the second jaw yaw pulley 1312P2, and thesecond jaw wire 1330J2 wound around the second actuation pulley 1313P2and the second jaw yaw pulley 1312P2 are all rotated around the yawrotation shaft 13121, and thus both strands of the second jaw wire1330J2 wound around the second jaw yaw pulley 1312P2 are movedrespectively in a direction opposite the direction W1 a and a directionopposite the direction W1 b, thereby rotating the first jaw 1321 of theend tool 1320 in the direction of an arrow EPY2.

In this case, the pulleys of the manipulation part 1310 respectivelycorrespond to the pulleys of the end tool 1320.

Yaw pulleys will now be described.

In detail, the J11 pulley 1323J11 and the J21 pulley 1323J21 thatperform a yaw/actuation motion while being rotated around the jawrotation shaft 1323JA in the end tool 1320 respectively correspond tothe first jaw yaw pulley 1312P1 and the second jaw yaw pulley 1312P2that perform a yaw motion while being rotated around the yaw rotationshaft 13121 in the manipulation part 1310.

Here, for ease of description, the J11 pulley 1323J11 and the J21 pulley1323J21 of the end tool 1320 are grouped and referred to as an end tooljaw pulley, and the first jaw yaw pulley 1312P1 and the second jaw yawpulley 1312P2 of the manipulation part 1310 are grouped and referred toas a manipulation part yaw pulley.

In summary, if the manipulation part yaw pulley is rotated around theyaw rotation shaft 13121, the end tool jaw pulley performs the yawmotion while being rotated around the jaw rotation shaft 1323JA.

Here, in the present embodiment, (at least a portion of) the end tooljaw pulley and (at least a portion of) the manipulation part yaw pulleyare characterized by having different diameters. If (at least a portionof) the end tool jaw pulley and (at least a portion of) the manipulationpart yaw pulley have different diameters as described above, therotation angle of (at least a portion of) the end tool jaw pulley andthe rotation angle of (at least a portion of) the manipulation part yawpulley are characterized by being different from each other, which willbe described hereinafter in more detail.

First, the end tool 1320 has to perform the yaw motion in the range ofat least +90° to −90° (or more) relative to the Z axis. However, therange of motion of the wrist of a user holding the manipulation part1310 is (of course, different from person to person) about at least +60°to −60° approximately relative to the Z axis. Thus, if the rotationangle of (at least a portion of) the end tool jaw pulley and therotation angle of (at least a portion of) the manipulation part yawpulley are the same, the range of motion of the end tool 1320 is limitedto the range of motion of the wrist of the user or less, such that theend tool 1320 may be unable to operate at an angle as needed. If theuser performs a motion by excessively bending the wrist 90°, the fatigueof the user increases, and the body is strained, which results in anergonomically undesired design.

Thus, by forming the yaw driving pulleys corresponding to each other,(at least a portion of) the end tool jaw pulley and (at least a portionof) the manipulation part yaw pulley, to have different diameters, therotation angle of (at least a portion of) the end tool jaw pulley andthe rotation angle of (at least a portion of) the manipulation part yawpulley are adjusted to be different from each other.

That is, when the manipulation part yaw pulley and the end tool jawpulley are rotated together, the “length” of the wire wound therearoundchanges equally. Thus, by adjusting the diameters of the pulleys aroundwhich the wire is wound, the rotation angles of the pulleys around whichthe wire is wound are adjusted to be different from each other when thewire moves the same length.

In particular, even when the manipulation part yaw pulley is rotatedslightly, the end tool jaw pulley corresponding to the manipulation partyaw pulley needs to be rotated a greater angle than the manipulationpart yaw pulley is rotated, and thus the diameter of (at least a portionof) the end tool jaw pulley may be smaller than the diameter of (atleast a portion of) the manipulation part yaw pulley.

In this case,

(1:1.5)≤(Diameter of End Tool Jaw Pulley:Diameter of Manipulation PartYaw Pulley)≤(1:4.5)

may be set. This will now be described in more detail.

As described above, the range of motion required for the yaw motion ofthe end tool 1320 is +90° to −90°, whereas the range of motion of thewrist of the user holding the manipulation part 1310 is about +60° to−60°. Thus, the ratio of the diameter of the end tool jaw pulley to thediameter of the manipulation part yaw pulley should be at least 1:1.5 ormore, so as to match the range of motion of the wrist of the user andthe required range of motion of the end tool 1320.

In addition, if the end tool 1320 is excessively rotated when the usermoves the manipulation part 1310 slightly, delicate and accuratemanipulation is difficult. Thus, it is impossible to limitlesslyincrease the ratio of the diameter of the end tool jaw pulley to thediameter of the manipulation part yaw pulley. The usability evaluationresult teaches that if the ratio of the diameter of the end tool jawpulley to the diameter of the manipulation part yaw pulley is greaterthan or equal to 1:4.5, it is somewhat difficult for the user to performaccurate manipulation as desired.

Thus,

(1:1.5)≤(Diameter of End Tool Jaw Pulley:Diameter of Manipulation PartYaw Pulley)≤(1:4.5)

may be set.

Alternatively,

(1:1.5)≤(Rotation Angle of Manipulation Part Yaw Pulley:Rotation Angleof End Tool Jaw Pulley)≤(1:4.5)

may be set.

FIG. 90 illustrates a case where the diameter of the end tool jaw pulleyis φ6 and the diameter of the manipulation part yaw pulley is φ15. Inthis case, (Diameter of End Tool Jaw Pulley:Diameter of ManipulationPart Yaw Pulley)=(1:2.5). In other words, (Rotation Angle ofManipulation Part Yaw Pulley:Rotation Angle of End Tool JawPulley)=(1:2.5).

As described above, by forming (at least a portion of) the end tool jawpulley and (at least a portion of) the manipulation part yaw pulley tohave different diameters and different rotation angles, the manipulationconvenience of the user may improve, and at the same time the delicateand precise manipulation level may be maintained.

(Actuation-Related Pulleys)

FIG. 93 is a view illustrating configurations of pulleys and wiresrelating to an actuation motion and a yaw motion of the instrument 1300for surgery shown in FIG. 90 separately with respect to the first jawand the second jaw, according to the embodiment of the presentinvention. FIG. 93A is a view illustrating only pulleys and wiresrelating to the second jaw, and FIG. 93B is a view illustrating onlypulleys and wires relating to the first jaw.

First, the operation of wires in actuation motion will be described.

Referring to FIG. 93B, if a first actuation rotation part 13132 a isrotated around the first actuation rotation shaft 13131 a in thedirection of an arrow OPA1, the first actuation pulley 1313P1 connectedto the first actuation rotation part 13132 a is rotated, and bothstrands of the first jaw wire 1330J1 wound around the first actuationpulley 1313P1 are moved in directions W1 a and W1 b, thereby rotatingthe first jaw 1321 of the manipulation part in the direction of an arrowEPA1.

Referring to FIG. 93A, if a second actuation rotation part 13132 b isrotated around the second actuation rotation shaft 13131 b in thedirection of an arrow OPA2, the second actuation pulley 1313P2 connectedto the second actuation rotation part 13132 b is rotated, and bothstrands of the second jaw wire 1330J2 wound around the second actuationpulley 1313P2 are moved in directions W2 a and W2 b, thereby rotatingthe second jaw 1322 of the manipulation part in the direction of anarrow EPA2. Therefore, if a user manipulates the first actuationrotation part 13132 a and the second actuation rotation part 13132 b inapproaching directions, the first jaw 1321 and the second jaw 1322 ofthe end tool are moved close to each other.

In this case, the pulleys of the manipulation part 1310 respectivelycorrespond to the pulleys of the end tool 1320.

Actuation pulleys will now be described.

In detail, the J11 pulley 1323J11 that performs a yaw/actuation motionwhile being rotated around the jaw rotation shaft 1323JA in the end tool1320 corresponds to the first actuation pulley 1313P1 that performs anactuation motion while being rotated around the first actuation rotationshaft 13131 a in the manipulation part 1310. In addition, the J21 pulley1323J21 that performs a yaw/actuation motion while being rotated aroundthe jaw rotation shaft 1323JA in the end tool 1320 corresponds to thesecond actuation pulley 1313P2 that performs an actuation motion whilebeing rotated around the second actuation rotation shaft 13131 b in themanipulation part 1310.

In this case, the J11 pulley 1323J11 and the J21 pulley 1323J21 of theend tool 1320 are pulleys that perform the yaw motion as described aboveand are pulleys that perform an actuation motion.

As defined above, the J11 pulley 1323J11 and the J21 pulley 1323J21 ofthe end tool 1320 are grouped and referred to as an end tool jaw pulley.In addition, for ease of description, the first actuation pulley 1313P1and the second actuation pulley 1313P2 of the manipulation part 1310 aregrouped and referred to as a manipulation part actuation pulley.

In summary, if the manipulation part actuation pulley is rotated aroundthe first actuation rotation shaft 13131 a and/or the second actuationrotation shaft 13131 b, the end tool jaw pulley performs the actuationmotion while being rotated around the jaw rotation shaft 1323JA.

Here, in the present embodiment, (at least a portion of) the end tooljaw pulley and (at least a portion of) the manipulation part actuationpulley are characterized by having different diameters. If (at least aportion of) the end tool jaw pulley and (at least a portion of) themanipulation part actuation pulley have different diameters as describedabove, the rotation angle of (at least a portion of) the end tool jawpulley and the rotation angle of (at least a portion of) themanipulation part actuation pulley are characterized by being differentfrom each other, which will be described hereinafter in more detail.

First, the end tool 1320 has to perform the actuation motion in therange of at least +90° to −90° (or more) relative to the Z axis.However, the range in which two fingers (the thumb and the index finger)of the user, inserted into a first actuation manipulation part 1313 aand a second actuation manipulation part 1313 b of the manipulation part1310, naturally move away from each other and move close to each other,is (of course, different from person to person) about at least +60° to−60° approximately relative to the Z axis. Thus, if the rotation angleof (at least a portion of) the end tool jaw pulley and the rotationangle of (at least a portion of) the manipulation part actuation pulleyare the same, the range of motion of the end tool 1320 is limited to therange of motion of the fingers of the user or less, such that the endtool 1320 may be unable to operate at an angle as needed. If the userperforms a motion of excessively moving the fingers away from eachother, the fatigue of the user increases, and the body is strained,which results in an ergonomically undesired design.

Thus, by forming the actuation driving pulleys corresponding to eachother, (at least a portion of) the end tool jaw pulley and (at least aportion of) the manipulation part actuation pulley, to have differentdiameters, the rotation angle of (at least a portion of) the end tooljaw pulley and the rotation angle of (at least a portion of) themanipulation part actuation pulley are adjusted to be different fromeach other.

That is, when the manipulation part actuation pulley and the end tooljaw pulley are rotated together, the “length” of the wire woundtherearound changes equally. Thus, by adjusting the diameters of thepulleys around which the wire is wound, the rotation angles of thepulleys around which the wire is wound are adjusted to be different fromeach other when the wire moves the same length.

In particular, even when the manipulation part actuation pulley isrotated slightly, the end tool jaw pulley corresponding to themanipulation part actuation pulley needs to be rotated a greater anglethan the manipulation part actuation pulley is rotated, and thus thediameter of (at least a portion of) the end tool jaw pulley may besmaller than the diameter of (at least a portion of) the manipulationpart actuation pulley.

In this case,

(1:1.5)≤(Diameter of End Tool Jaw Pulley:Diameter of Manipulation PartActuation Pulley)≤(1:4.5)

may be set. This will now be described in more detail.

As described above, the range of motion required for the actuationmotion of the end tool 1320 is +90° to −90°, whereas the range of motionof the fingers of the user holding the manipulation part 1310 is about+60° to −60°. Thus, the ratio of the diameter of the end tool jaw pulleyto the diameter of the manipulation part actuation pulley should be atleast 1:1.5 or more, so as to match the range of motion of the fingersof the user and the required range of motion of the end tool 1320.

In addition, if the end tool 1320 is excessively rotated when the usermoves the manipulation part 1310 slightly, delicate and accuratemanipulation is difficult. Thus, it is impossible to limitlesslyincrease the ratio of the diameter of the end tool jaw pulley to thediameter of the manipulation part actuation pulley. The usabilityevaluation result teaches that if the ratio of the diameter of the endtool jaw pulley to the diameter of the manipulation part actuationpulley is greater than or equal to 1:4.5, it is somewhat difficult forthe user to perform accurate manipulation as desired.

Thus,

(1:1.5)≤(Diameter of End Tool Jaw Pulley:Diameter of Manipulation PartActuation Pulley)≤(1:4.5)

may be set.

Alternatively,

(1:1.5)≤(Rotation Angle of Manipulation Part Actuation Pulley:RotationAngle of End Tool Jaw Pulley)≤(1:4.5)

may be set.

FIG. 90 illustrates a case where the diameter of the end tool jaw pulleyis φ6 and the diameter of the manipulation part actuation pulley is φ12.In this example, (Diameter of End Tool Jaw Pulley:Diameter ofManipulation Part Actuation Pulley)=(1:2). In other words, (RotationAngle of Manipulation Part Actuation Pulley:Rotation Angle of End ToolJaw Pulley)=(1:2).

As described above, by forming (at least a portion of) the end tool jawpulley and (at least a portion of) the manipulation part actuationpulley to have different diameters and different rotation angles, themanipulation convenience of the user may improve, and at the same timethe delicate and precise manipulation level may be maintained.

While the present invention has been described with reference to theaccompanying drawings according to embodiments, these embodiments arefor illustrative purposes only, and it will be understood by those ofordinary skill in the art that various changes and modifications may bemade therefrom. Therefore, the scope and spirit of the present inventionshould be defined by the following claims.

INDUSTRIAL APPLICABILITY

The present invention relates to an instrument for surgery and, morespecifically, to an instrument for surgery which may be manuallyoperated in order to be used for laparoscopic surgery or various othertypes of surgery.

1. An instrument for surgery comprising: an end tool comprising at leastone jaw, an end tool jaw pulley coupled to the at least one jaw andconfigured to rotate around a jaw rotation shaft, and an end tool pitchpulley provided at a side of the end tool jaw pulley and configured torotate around an end tool pitch rotation shaft, the end tool configuredto rotate in at least two directions; a manipulation part configured tocontrol rotation of the end tool in the at least two directions, themanipulation part comprising a first handle, a yaw manipulation partconnected to the first handle and configured to control a yaw motion ofthe end tool, the yaw manipulation part comprising a manipulation partyaw pulley configured to rotate around a yaw rotation shaft, and a pitchmanipulation part provided at a side of the yaw manipulation part andconfigured to control a pitch motion of the end tool, the pitchmanipulation part comprising a manipulation part pitch pulley configuredto rotate around a pitch rotation shaft; a power transmission partconnected to the manipulation part, the power transmission partcomprising at least one jaw wire configured to transmit rotation of themanipulation part to the at least one jaw; and a connecting partextending in a first direction (X axis), the connecting part beingcoupled to the end tool at an end portion thereof and coupled to themanipulation part at another end portion thereof so as to connect themanipulation part to the end tool, wherein the end tool jaw pulley andthe manipulation part yaw pulley have different diameters, or the endtool pitch pulley and the manipulation part pitch pulley have differentdiameters.
 2. The instrument of claim 1, wherein the diameter of the endtool jaw pulley is smaller than the diameter of the manipulation partyaw pulley.
 3. The instrument of claim 2, wherein the ratio of thediameter of the end tool jaw pulley to the diameter of the manipulationpart yaw pulley is greater than or equal to (1:1.5) and less than orequal to (1:4.5).
 4. The instrument of claim 1, wherein the end tool jawpulley and the manipulation part yaw pulley are connected through the atleast one jaw wire, and the rotation angle of the manipulation part yawpulley and the rotation angle of the end tool jaw pulley when the atleast one jaw wire moves are different.
 5. The instrument of claim 4,wherein the rotation angle of the end tool jaw pulley is greater thanthe rotation angle of the manipulation part yaw pulley.
 6. Theinstrument of claim 5, wherein the ratio of the rotation angle of themanipulation part yaw pulley to the rotation angle of the end tool jawpulley is greater than or equal to (1:1.5) and less than or equal to(1:4.5).
 7. The instrument of claim 1, wherein the diameter of the endtool pitch pulley is smaller than the diameter of the manipulation partpitch pulley.
 8. The instrument of claim 7, wherein the ratio of thediameter of the end tool pitch pulley to the diameter of themanipulation part pitch pulley is greater than or equal to (1:1.5) andless than or equal to (1:4.5).
 9. The instrument of claim 1, wherein theend tool pitch pulley and the manipulation part pitch pulley areconnected through the at least one jaw wire, and the rotation angle ofthe manipulation part pitch pulley and the rotation angle of the endtool pitch pulley when the at least one jaw wire moves are different.10. The instrument of claim 9, wherein the rotation angle of the endtool pitch pulley is greater than the rotation angle of the manipulationpart pitch pulley.
 11. The instrument of claim 10, wherein the ratio ofthe rotation angle of the manipulation part pitch pulley to the rotationangle of the end tool pitch pulley is greater than or equal to (1:1.5)and less than or equal to (1:4.5).
 12. The instrument of claim 1,wherein the end tool comprises a first jaw and a second jaw, and themanipulation part further comprises an actuation manipulation partprovided at a side of the yaw manipulation part and configured tocontrol an actuation motion of the end tool, the actuation manipulationpart comprising manipulation part actuation pulley configured to rotatearound an actuation rotation shaft.
 13. The instrument of claim 12,wherein the diameter of the end tool jaw pulley is less than thediameter of the manipulation part actuation pulley.
 14. The instrumentof claim 13, wherein the ratio of the diameter of the end tool jawpulley to the diameter of the manipulation part actuation pulley isgreater than or equal to (1:1.5) and less than or equal to (1:4.5). 15.The instrument of claim 12, wherein the end tool jaw pulley and themanipulation part actuation pulley are connected through the at leastone jaw wire, and the rotation angle of the manipulation part actuationpulley and the rotation angle of the end tool jaw pulley when the atleast one jaw wire moves are different.
 16. The instrument of claim 15,wherein the rotation angle of the end tool jaw pulley is greater thanthe rotation angle of the manipulation part actuation pulley.
 17. Theinstrument of claim 16, wherein the ratio of the rotation angle of themanipulation part actuation pulley to the rotation angle of the end tooljaw pulley is greater than or equal to (1:1.5) and less than or equal to(1:4.5).
 18. The instrument of claim 1, wherein at least one of the yawmanipulation part and the pitch manipulation part is directly connectedto the first handle.
 19. The instrument of claim 1, wherein each of themanipulation parts comprises at least one rotation shaft to control amotion of the end tool and at least one rotation part configured torotate around the at least one rotation shaft, and the at least onerotation part is closer to the end tool than the at least one rotationshaft is to the end tool.
 20. The instrument of claim 1, wherein theconnecting part comprises a bent part connecting the end tool to themanipulation part and being bent at least once.